Anisotropic-Stiffness Belt in Mono wheeled Flexible Track for Rough Terrain Locomotion

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Rescue robots that search around on debris during natural disasters require high mobility to overcome various shaped materials scattered in the environment. Our previous study developed a new tracked mechanism called Mono-wheel Track, an elastic track driven by a single wheel, having a high capability to get over obstacles. In designing the MW - Track, the track stiffness is an essential factor-the flexible track can adapt to the geometry of the obstacles, but the flexibility prevents grousers from anchoring to the environment steadily. If the track has different localized stiffnesses, both the adaptability and the stability might be archived. In this study, we developed an 'anisotropic-stiffness track,' exhibiting different stiffness depending on the bending side, and investigated its deformation characteristics and the effects on mobility. The basic deformation characteristics of the track were confirmed by load tests. The effects on mobility were evaluated by step-climbing tests, ditch-crossing tests, and traction measuring with a mobile robot.

Original languageEnglish
Title of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages13227-13232
Number of pages6
ISBN (Electronic)9781665479271
DOIs
Publication statusPublished - 2022
Event2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, Japan
Duration: 2022 Oct 232022 Oct 27

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2022-October
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Country/TerritoryJapan
CityKyoto
Period22/10/2322/10/27

Keywords

  • Compliant Joints and Mechanisms
  • Mechanism Design
  • Search and Rescue Robots

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