TY - GEN
T1 - Mechanical design of the wheel-leg hybrid mobile robot to realize a large wheel diameter
AU - Tadakuma, Kenjiro
AU - Tadakuma, Riichiro
AU - Maruyama, Akira
AU - Rohmer, Eric
AU - Nagatani, Keiji
AU - Yoshida, Kazuya
AU - Ming, Aigo
AU - Shimojo, Makoto
AU - Higashimori, Mitsuru
AU - Kaneko, Makoto
PY - 2010
Y1 - 2010
N2 - In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize a greater ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and a test of the basic properties of the rotational fingertip are also shown. The Basic configurations of wheel-leg retractable is considered well. The integrated mode is also described.
AB - In this paper, a new category of the wheel-leg hybrid robot is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize a greater ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and a test of the basic properties of the rotational fingertip are also shown. The Basic configurations of wheel-leg retractable is considered well. The integrated mode is also described.
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U2 - 10.1109/IROS.2010.5651912
DO - 10.1109/IROS.2010.5651912
M3 - Conference contribution
AN - SCOPUS:78651489099
SN - 9781424466757
T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
SP - 3358
EP - 3365
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 -