Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain

Keiji Nagatani, Hiroaki Kinoshita, Kazuya Yoshida, Kenjiro Tadakuma, Eiji Koyanagi

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

2 Citations (Scopus)

Abstract

The track mechanism has high mobility on irregular terrain, and is typically used as a locomotion mechanism for all-terrain robots. However, the track mechanism sometimes slips while traversing slopes comprising loose soil. Therefore, we developed a new locomotion mechanism, referred to as surface-contact-type locomotion, which has high mobility on weak soil. It uses a simple legged mechanism that has a wide contact area with the ground so as not to corrupt the contact surface. However, it has the disadvantage of low mobility on irregular terrain. To solve the problem of the above trade-off, we developed the leg-track hybrid locomotion mechanism by fusing the two locomotion mechanisms. In this paper, we detail the developed locomotion mechanism and report some initial experiments.

Original languageEnglish
Title of host publication8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010
DOIs
Publication statusPublished - 2010 Dec 1
Event8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010 - Bremen, Germany
Duration: 2010 Jul 262010 Jul 30

Publication series

Name8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010

Other

Other8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010
CountryGermany
CityBremen
Period10/7/2610/7/30

Keywords

  • All-terrain robot
  • Loose slope
  • Track mechanism

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Safety, Risk, Reliability and Quality

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  • Cite this

    Nagatani, K., Kinoshita, H., Yoshida, K., Tadakuma, K., & Koyanagi, E. (2010). Development of leg-track hybrid locomotion to traverse loose slopes and irregular terrain. In 8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010 [5981549] (8th IEEE International Workshop on Safety, Security, and Rescue Robotics, SSRR-2010). https://doi.org/10.1109/SSRR.2010.5981549