TY - GEN
T1 - Development of a spherical tether-handling device with a coupled differential mechanism for tethered teleoperated robots
AU - Ichimura, Tomoya
AU - Tadakuma, Kenjiro
AU - Takane, Eri
AU - Konyo, Masashi
AU - Tadokoro, Satoshi
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/11/28
Y1 - 2016/11/28
N2 - Tethered robots often experience entangling of their cables with obstacles in uncertain disaster environments. This paper proposes a spherical tether handling device that unfastens a robot's tether during surveys by releasing the tether and carrying it aside. By using a differential mechanism, the device drives shells and rollers that hold the tether. On flat surfaces, the device moves forward by driving the shells. When the device climbs over steps, the rollers are driven by the differential mechanism to pull the tether automatically. After prototyping the device, we confirm the surmountability of the proposed device against steps. The results show that the device can climb a height 90.9% of its diameter. We also demonstrate a scenario to handle the tether and untangle multiple tangles in an environment with several obstacles.
AB - Tethered robots often experience entangling of their cables with obstacles in uncertain disaster environments. This paper proposes a spherical tether handling device that unfastens a robot's tether during surveys by releasing the tether and carrying it aside. By using a differential mechanism, the device drives shells and rollers that hold the tether. On flat surfaces, the device moves forward by driving the shells. When the device climbs over steps, the rollers are driven by the differential mechanism to pull the tether automatically. After prototyping the device, we confirm the surmountability of the proposed device against steps. The results show that the device can climb a height 90.9% of its diameter. We also demonstrate a scenario to handle the tether and untangle multiple tangles in an environment with several obstacles.
UR - http://www.scopus.com/inward/record.url?scp=85006487086&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85006487086&partnerID=8YFLogxK
U2 - 10.1109/IROS.2016.7759405
DO - 10.1109/IROS.2016.7759405
M3 - Conference contribution
AN - SCOPUS:85006487086
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2604
EP - 2609
BT - IROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
Y2 - 9 October 2016 through 14 October 2016
ER -