Connected tracked robot with offset joint mechanism for multiple configurations

Kenjiro Tadakuma, Chigusa Ohishi, Akira Maruyama, Riichiro Tadakuma, Keiji Nagatani, Kazuya Yoshida, Aiguo Ming, Makoto Shimojo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disastergenerated debris. In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3366-3371
Number of pages6
DOIs
Publication statusPublished - 2010 Dec 1
Event23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
Duration: 2010 Oct 182010 Oct 22

Publication series

NameIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Other

Other23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

Keywords

  • Connected crawler
  • Double joint mechanism
  • Multiple configurations
  • Search and rescue robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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