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このアイテムの引用には次の識別子を使用してください: http://hdl.handle.net/10445/8459

タイトル: Leg-Like Wheel for Mobile Robot that Realizes Smooth Movement on Even and Uneven Surfaces
著者: Nagamura, Katsuya
Fujiya, Tsuyoshi
MIKAMI, Sadayoshi
アブストラクト: A rescue robot is required to efficiently run on uneven surfaces. However, a high performance on a rough terrain sometimes causes inefficiency in rapidly moving on even surfaces such as paved areas. To provide a mechanism that is able to be used in different terrains without changing the structure, we propose a specialized shape for 6 wheels vehicles that is able to run like a normal wheeled vehicle but able to run over a wide variety of terrains such as rugged areas without changing the shape of the wheel. The wheel has two or three circular cutouts. In a wheeled car mode, the 6 wheels are synchronized so as to form a tripod gait, in which the vehicle is supported at least three wheel points. In a rough terrain environment, the cutouts of the wheels function as claws and able to pull the vehicle up to the obstacles. Throughout the experiments by a small model of the vehicle, it is shown that the proposed wheel has these abilities, along with high efficiencies in moving on a muddy or sandy surfaces.
研究業績種別: 国際会議/International Conference
資料種別: Conference Paper
査読有無: あり/yes
単著共著: 共著/joint
発表雑誌名,発表学会名など: 13th International Conference on Control, Automation, Robotics and Vision
開始ページ: Fr37.5
年月日: 2014年12月10日
出現コレクション:三上 貞芳


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