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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
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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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ファイルダウンロード:
ファイル |
記述 |
サイズ | フォーマット |
Fr37.5-P0507.pdf | | 2.78 MB | Adobe PDF | 見る/開く |
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