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Crawler Vehicle with Circular Cross-Section Unit to Realize Sideways Motion
University of Electro-Communications, Japan.
AIST, Chofu-shi, Tokyo, 182-8585, Japan.
Tohoku University, Chofu-shi, Tokyo, 182-8585, Japan.
Tohoku University, Chofu-shi, Tokyo, 182-8585, Japan.
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2008 (English)In: 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Piscataway, N.J.: IEEE Press, 2008, 2422-2428 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler 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. ©2008 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2008. 2422-2428 p.
Keyword [en]
Circular cross-section, Crawler, Pipe inspection, Sideways motion, Tracked vehicle
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20769DOI: 10.1109/IROS.2008.4651223ISI: 000259998201167Scopus ID: 2-s2.0-69549110773ISBN: 978-142442058-2 OAI: oai:DiVA.org:hh-20769DiVA: diva2:586731
Conference
2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Acropolis convention center, Nice, France September 22-26, 2008
Available from: 2013-01-12 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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CiteExportLink to record
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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
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Output format
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  • asciidoc
  • rtf