Development of multi-D.O.F. tracked vehicle to traverse weak slope and climb up rough slope

Keiji Nagatani, Takahiro Noyori, Kazuya Yoshida

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

10 Citations (Scopus)

Abstract

During a volcanic activity, it is very dangerous to approach a restricted area. For this reason, robotic remote observation system would be quite useful, and it is particularly urgent for a country with a high degree of volcanic activity, such as Japan. In response to this need, our research group developed a novel multi-D.O.F. tracked vehicle, called ELF, which can conduct observation in a restricted volcanic area. The robot essentially consists of six tracks, and it has eleven actuators that change its configuration. These actuators enable the robot to assume various configurations, which increase its ability to traverse weak and rough terrains in the area around a volcano. In this research, we propose one configuration of the robot, in which the surface of the contact plane at the bottom of the track is horizontal, which is advantageous for traversing a weak slope. The feasibility of this design was verified in a field experiment on Mt. Kushigata, on the island of Izu-Oshima, and in a simulated volcanic field that was filled with pumice stones.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages2849-2854
Number of pages6
DOIs
Publication statusPublished - 2013 Dec 1
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 2013 Nov 32013 Nov 8

Publication series

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

Other

Other2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period13/11/313/11/8

ASJC Scopus subject areas

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

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    Nagatani, K., Noyori, T., & Yoshida, K. (2013). Development of multi-D.O.F. tracked vehicle to traverse weak slope and climb up rough slope. In IROS 2013: New Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2849-2854). [6696759] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2013.6696759