Two axes orthogonal drive transmission for omnidirectional crawler with surface contact

Eri Takane; Kenjiro Tadakuma; Masahiro Fujita; Hirone Komatsu; Akito Nomura; Tomoya Ichimura; Tomonari Yamamoto; Yuich Ambe; Masashi Konyo; Satoshi Tadokoro

doi:10.1109/SSRR.2016.7784330

Two axes orthogonal drive transmission for omnidirectional crawler with surface contact

Eri Takane, Kenjiro Tadakuma, Masahiro Fujita, Hirone Komatsu, Akito Nomura, Tomoya Ichimura, Tomonari Yamamoto, Yuich Ambe, Masashi Konyo, Satoshi Tadokoro

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

In this paper, we propose an omnidirectional mobile mechanism with surface contact. This mechanism is expected to perform on rough terrain and weak ground at disaster sites. In the discussion on the drive mechanism, we explain how a two axes orthogonal drive transmission system is important and we propose a principle drive mechanism for omnidirectional motion. In addition, we demonstrated that the proposed drive mechanism has potential for omnidirectional movement on rough ground by conducting experiments with prototypes.

Original language	English
Title of host publication	SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics
Editors	Kamilo Melo
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	378-383
Number of pages	6
ISBN (Electronic)	9781509043491
DOIs	https://doi.org/10.1109/SSRR.2016.7784330
Publication status	Published - 2016 Dec 14
Event	14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016 - Lausanne, Switzerland Duration: 2016 Oct 23 → 2016 Oct 27

Publication series

Name	SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics

Other

Other	14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016
Country/Territory	Switzerland
City	Lausanne
Period	16/10/23 → 16/10/27

ASJC Scopus subject areas

Human-Computer Interaction
Artificial Intelligence
Safety, Risk, Reliability and Quality

Access to Document

10.1109/SSRR.2016.7784330

Cite this

Takane, E., Tadakuma, K., Fujita, M., Komatsu, H., Nomura, A., Ichimura, T., Yamamoto, T., Ambe, Y., Konyo, M., & Tadokoro, S. (2016). Two axes orthogonal drive transmission for omnidirectional crawler with surface contact. In K. Melo (Ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics (pp. 378-383). [7784330] (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSRR.2016.7784330

Two axes orthogonal drive transmission for omnidirectional crawler with surface contact. / Takane, Eri; Tadakuma, Kenjiro; Fujita, Masahiro et al.

SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics. ed. / Kamilo Melo. Institute of Electrical and Electronics Engineers Inc., 2016. p. 378-383 7784330 (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Takane, E, Tadakuma, K, Fujita, M, Komatsu, H, Nomura, A, Ichimura, T, Yamamoto, T, Ambe, Y , Konyo, M & Tadokoro, S 2016, Two axes orthogonal drive transmission for omnidirectional crawler with surface contact. in K Melo (ed.), SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics., 7784330, SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics, Institute of Electrical and Electronics Engineers Inc., pp. 378-383, 14th International Symposium on Safety, Security and Rescue Robotics, SSRR 2016, Lausanne, Switzerland, 16/10/23. https://doi.org/10.1109/SSRR.2016.7784330

Takane E, Tadakuma K, Fujita M, Komatsu H, Nomura A, Ichimura T et al. Two axes orthogonal drive transmission for omnidirectional crawler with surface contact. In Melo K, editor, SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics. Institute of Electrical and Electronics Engineers Inc. 2016. p. 378-383. 7784330. (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics). doi: 10.1109/SSRR.2016.7784330

Takane, Eri ; Tadakuma, Kenjiro ; Fujita, Masahiro et al. / Two axes orthogonal drive transmission for omnidirectional crawler with surface contact. SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics. editor / Kamilo Melo. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 378-383 (SSRR 2016 - International Symposium on Safety, Security and Rescue Robotics).

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Two axes orthogonal drive transmission for omnidirectional crawler with surface contact

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