TY - GEN
T1 - Basic running test of the cylindrical tracked vehicle with sideways mobility
AU - Tadakuma, Kenjiro
AU - Tadakuma, Riichiro
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
AU - Ming, Aigo
AU - Shimojo, Makoto
AU - Iagnemma, Karl
PY - 2009/12/11
Y1 - 2009/12/11
N2 - In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype. Basic motion experiments with confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink.
AB - In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype. Basic motion experiments with confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink.
KW - Circular cross-section
KW - Crawler
KW - Pipe inspection
KW - Sideways motion
KW - Tracked vehicle
UR - http://www.scopus.com/inward/record.url?scp=76249130800&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249130800&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354064
DO - 10.1109/IROS.2009.5354064
M3 - Conference contribution
AN - SCOPUS:76249130800
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 1679
EP - 1684
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -