Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter

Kenjiro Tadakuma, Riichiro Tadakuma, Akira Maruyama, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida, Aigo Ming, Makoto Shimojo, Mitsuru Higashimori, Makoto Kaneko

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

42 Citations (Scopus)

Abstract

In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize a greater ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and a test of the basic properties of the rotational fingertip are also shown. The Basic configurations of wheel-leg retractable is considered well. The integrated mode is also described.

Original languageEnglish
Title of host publicationIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages3358-3365
Number of pages8
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

ASJC Scopus subject areas

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

Fingerprint Dive into the research topics of 'Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter'. Together they form a unique fingerprint.

  • Cite this

    Tadakuma, K., Tadakuma, R., Maruyama, A., Rohmer, E., Nagatani, K., Yoshida, K., Ming, A., Shimojo, M., Higashimori, M., & Kaneko, M. (2010). Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 3358-3365). [5651912] (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5651912