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

Keiji Nagatani, Takahiro Noyori, Kazuya Yoshida

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルIROS 2013
ホスト出版物のサブタイトルNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
ページ2849-2854
ページ数6
DOI
出版ステータスPublished - 2013
イベント2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
継続期間: 2013 11月 32013 11月 8

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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