TY - GEN
T1 - Connected tracked robot with offset joint mechanism for multiple configurations
AU - Tadakuma, Kenjiro
AU - Ohishi, Chigusa
AU - Maruyama, Akira
AU - Tadakuma, Riichiro
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
AU - Ming, Aiguo
AU - Shimojo, Makoto
PY - 2010
Y1 - 2010
N2 - This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disastergenerated debris. In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.
AB - This paper describes various configurations of two connected unit crawlers. By changing the relative position of the two connected vehicle units, the overall robot comprising such a mechanism can automatically adapt to surface obstacles on the field, including complicated structures such as disastergenerated debris. In addition, we analyzed the effect of axis arrangements in order to simplify the realization of the switching function so as to achieve the four basic configurations.
KW - Connected crawler
KW - Double joint mechanism
KW - Multiple configurations
KW - Search and rescue robot
UR - http://www.scopus.com/inward/record.url?scp=78651496021&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2010.5651473
DO - 10.1109/IROS.2010.5651473
M3 - Conference contribution
AN - SCOPUS:78651496021
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3366
EP - 3371
BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Y2 - 18 October 2010 through 22 October 2010
ER -