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Tracked vehicle with circular cross-section to realize sideways motion
University of Electro-Communications, Chofugaoka, Tokyo, Japan.
University of Tokyo, Japan.
Tohoku University, Japan.
Tohoku University, Japan.
Show others and affiliations
2009 (English)In: Robotics and Automation, 2009. ICRA ’09. IEEE International Conference on, Washington, DC: IEEE Computer Society, 2009, 1603-1604 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this video, a novel tracked mechanism for sideways motion is presented. The tracked mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional tracked mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section crawler. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.

Place, publisher, year, edition, pages
Washington, DC: IEEE Computer Society, 2009. 1603-1604 p.
Series
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
Keyword [en]
Belts, Crawlers, Inspection, Land vehicles, Mobile robots, Road vehicles, Space vehicles, Surface fitting, Tracking, Wheels, Circular Cross-Section, Crawler, Pipe Inspection, Sideways Motion, Tracked Vehicle
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20840DOI: 10.1109/ROBOT.2009.5152699ISI: 000276080401215ISBN: 978-1-4244-2788-8 ISBN: 978-1-4244-2789-5 OAI: oai:DiVA.org:hh-20840DiVA: diva2:586693
Conference
IEEE International Conference on Robotics and Automation, Kobe, JAPAN, MAY 12-17, 2009
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-02-21Bibliographically approved

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Iagnemma, Karl
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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf