Basic running test of the cylindrical tracked vehicle with sideways mobility
Name
Iagnemma_Basic Running.pdf
Size
1.88 MB
Format
Adobe PDF
Checksum (MD5)
8bb42a8b026b4d8cc8d242177168f385
Author(s)
Tadakuma, Kenjiro
Tadakuma, Riichiro
Nagatani, Keiji
Yoshida, Kazuya
Ming, Aigo
Shimojo, Makoto
Iagnemma, Karl
Date Issued
December 2009
Journal
IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
Publisher
Institute of Electrical and Electronics Engineers
Citation
Tadakuma, K. et al. “Basic running test of the cylindrical tracked vehicle with sideways mobility.” Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on. 2009. 1679-1684. © Copyright 2009 IEEE
Version
Final published version
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2009.5354064
