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Basic Running Test of the Cylindrical Tracked Vehicle with Sideways Mobility
University of Electro-Communications, Japan.
University of Tokyo, Japan.
Tohoku University, Japan.
Tohoku University, Japan.
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2009 (English)In: IROS 2009: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, Piscataway, N.J.: IEEE Press, 2009, 1679-1684 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility 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. Basic motion experiments with confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. © 2009 IEEE.

Place, publisher, year, edition, pages
Piscataway, N.J.: IEEE Press, 2009. 1679-1684 p.
Keyword [en]
Circular cross-section, Crawler, Pipe inspection, Sideways motion, Tracked vehicle
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-20756DOI: 10.1109/IROS.2009.5354064ISI: 000285372900276Scopus ID: 2-s2.0-76249130800ISBN: 978-142443804-4 OAI: oai:DiVA.org:hh-20756DiVA: diva2:586833
Conference
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, USA, 11-15 October, 2009
Available from: 2013-01-13 Created: 2013-01-12 Last updated: 2013-01-29Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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  • vancouver
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Language
  • de-DE
  • en-GB
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  • fi-FI
  • nn-NO
  • nn-NB
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Output format
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  • asciidoc
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