Basic running test of the cylindrical tracked vehicle with sideways mobility

Kenjiro Tadakuma; Riichiro Tadakuma; Keiji Nagatani; Kazuya Yoshida; Aigo Ming; Makoto Shimojo; Karl Iagnemma

doi:10.1109/IROS.2009.5354064

Basic running test of the cylindrical tracked vehicle with sideways mobility

Kenjiro Tadakuma, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Aigo Ming, Makoto Shimojo, Karl Iagnemma

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

14 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages	1679-1684
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2009.5354064
Publication status	Published - 2009 Dec 11
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States Duration: 2009 Oct 11 → 2009 Oct 15

Publication series

Name	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009

Other

Other	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Country	United States
City	St. Louis, MO
Period	09/10/11 → 09/10/15

Keywords

Circular cross-section
Crawler
Pipe inspection
Sideways motion
Tracked vehicle

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2009.5354064

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Cite this

Tadakuma, K., Tadakuma, R., Nagatani, K., Yoshida, K., Ming, A., Shimojo, M., & Iagnemma, K. (2009). Basic running test of the cylindrical tracked vehicle with sideways mobility. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 1679-1684). [5354064] (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354064

Basic running test of the cylindrical tracked vehicle with sideways mobility. / Tadakuma, Kenjiro; Tadakuma, Riichiro; Nagatani, Keiji; Yoshida, Kazuya; Ming, Aigo; Shimojo, Makoto; Iagnemma, Karl.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1679-1684 5354064 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Tadakuma, K, Tadakuma, R, Nagatani, K, Yoshida, K, Ming, A, Shimojo, M & Iagnemma, K 2009, Basic running test of the cylindrical tracked vehicle with sideways mobility. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354064, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp. 1679-1684, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 09/10/11. https://doi.org/10.1109/IROS.2009.5354064

Tadakuma K, Tadakuma R, Nagatani K, Yoshida K, Ming A, Shimojo M et al. Basic running test of the cylindrical tracked vehicle with sideways mobility. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 1679-1684. 5354064. (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009). https://doi.org/10.1109/IROS.2009.5354064

Tadakuma, Kenjiro ; Tadakuma, Riichiro ; Nagatani, Keiji ; Yoshida, Kazuya ; Ming, Aigo ; Shimojo, Makoto ; Iagnemma, Karl. / Basic running test of the cylindrical tracked vehicle with sideways mobility. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 1679-1684 (2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009).

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