Design and development of a tethered mobile robot to traverse on steep slope based on an analysis of its slippage and turnover

Keiji Nagatani, So Tatano, Keisuke Ikeda, Atsushi Watanabe, Miwa Kuri

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

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2637-2642
Number of pages6
ISBN (Electronic)9781538626825
DOIs
Publication statusPublished - 2017 Dec 13
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 2017 Sep 242017 Sep 28

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
CountryCanada
CityVancouver
Period17/9/2417/9/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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