TY - GEN
T1 - Design and development of a tethered mobile robot to traverse on steep slope based on an analysis of its slippage and turnover
AU - Nagatani, Keiji
AU - Tatano, So
AU - Ikeda, Keisuke
AU - Watanabe, Atsushi
AU - Kuri, Miwa
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Observations of fumaroles are important in forecasting volcanic eruptions. However, such observations are dangerous for humans because of volcanic gases and high-temperature steam that surround fumaroles. In previous study, a teleoperated mobile robot was developed to realize remote observations. However, it was observed that typical mobile robots were unable to reach fumaroles on a steep cliff. Therefore, extant research focused on the development of tethered small mobile robots to tackle thsese types of challenging cliffs to observe fumaroles. This study proposes a design of a tethered mobile robot to traverse a steep slope based on the analysis of slip and turnover. A few indoor experimental studies and field experiment were performed to verify the proposed design.
AB - Observations of fumaroles are important in forecasting volcanic eruptions. However, such observations are dangerous for humans because of volcanic gases and high-temperature steam that surround fumaroles. In previous study, a teleoperated mobile robot was developed to realize remote observations. However, it was observed that typical mobile robots were unable to reach fumaroles on a steep cliff. Therefore, extant research focused on the development of tethered small mobile robots to tackle thsese types of challenging cliffs to observe fumaroles. This study proposes a design of a tethered mobile robot to traverse a steep slope based on the analysis of slip and turnover. A few indoor experimental studies and field experiment were performed to verify the proposed design.
UR - http://www.scopus.com/inward/record.url?scp=85041948197&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85041948197&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206088
DO - 10.1109/IROS.2017.8206088
M3 - Conference contribution
AN - SCOPUS:85041948197
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2637
EP - 2642
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -