Paper Info
Title
Development Of The Connected Crawler Robot For Rough Terrain - Realization Of The Autonomous Motions
Abstract
The purpose of this paper is to develop a rough terrain mobile system. Our mobile system adopts the connected crawler mechanism. It had 3 connected stages with the motor-driven crawler tracks on each side. RC-servo motors were used for driving joints between the stages. This system also has a high mobility. In this paper, we showed the mechanical features, and proposed the operation strategies for autonomous motions. We have also made verification experiment of proposed operation strategy. For this verification, we did 2 types of experiment. One was that the robot passes over bumps with different heihgts. The other was stairs ascending, Both experiments had a great success. There were remarkable points in these experiments. These experiments showed that the robot can pass over the different height and different structual obstacles by using only (same) strategy. Moreover the sensors which realize proposed strategy were very simple, and the number of sensor was very small. Therefore it can be concluded that proposed strategy has extremely high usefulness.
Year
Venue
Keywords
2007
ICINCO 2007: PROCEEDINGS OF THE FOURTH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL RA-2: ROBOTICS AND AUTOMATION, VOL 2
crawler, rough terrain, step climbing, autonomous motion, connected crawler
Field
DocType
Citations 
Terrain,Control engineering,Engineering,Robot,Web crawler
Conference
0
PageRank 
References 
Authors
0.34
1
7
Name
Order
Citations
PageRank
Sho Yokota13227.32
Yasuhiro Ohyama211420.43
Hiroshi Hashimoto39618.99
Jin-Hua She41841182.27
Kuniaki Kawabata518751.01
Pierre Blazevic626331.39
Hisato Kobayashi79020.30