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

Yu Ozawa, Masahiro Watanabe, Kenjiro Tadakuma, Satoshi Tadokoro

研究成果: 書籍の章/レポート/Proceedings会議への寄与査読

抄録

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.

本文言語英語
ホスト出版物のタイトルIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
出版社Institute of Electrical and Electronics Engineers Inc.
ページ13227-13232
ページ数6
ISBN(電子版)9781665479271
DOI
出版ステータス出版済み - 2022
イベント2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022 - Kyoto, 日本
継続期間: 2022 10月 232022 10月 27

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
2022-October
ISSN(印刷版)2153-0858
ISSN(電子版)2153-0866

会議

会議2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
国/地域日本
CityKyoto
Period22/10/2322/10/27

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