Presentation | 2014-01-20 A proposal of expansion and contraction mechanism for changing wheel distances in the bio-inspired multi-wheel vehicle connected with elastic materials Tatsuyuki URATA, Hiroaki WAGATSUMA, |
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Abstract(in English) | Wheels are used for transporting objects and people in a wide range of areas. In principle, wheels require a well-prepared road surface for preventing a slipping, and basically it is not suitable for climbing slope with a high gradient. Crawler vehicle is an effective option as climbing mechanisms, which is currently popular in rescue robots, while multi-wheel vehicle is still used for planetary explorers because of less complexity in the assembly level rather than crawlers. We have been investigated a possibility of multi-wheel vehicles for an application to stairs-climbing, by using a bio-inspired linkage mechanism with elastic materials. In our past report, we demonstrated that the vehicle has an ability to climb stars in some level, but a spontaneous flexibility of the material is not enough for wheel engagement with star surface. In the present study, we proposed a contraction mechanism of the distance between wheels, like muscle, by using a sensori-motor feedback control with two elastic blades. In our real robotic experiment, the proposed mechanism works depending on a suitable elasticity difference of upper and lower blades. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | multi-wheel vehicle / linkage mechanism / stairs climbing / elastic materials / feedback control with time delay |
Paper # | NC2013-76 |
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Committee | NC |
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Conference Date | 2014/1/13(1days) |
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Registration To | Neurocomputing (NC) |
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Language | JPN |
Title (in Japanese) | (See Japanese page) |
Sub Title (in Japanese) | (See Japanese page) |
Title (in English) | A proposal of expansion and contraction mechanism for changing wheel distances in the bio-inspired multi-wheel vehicle connected with elastic materials |
Sub Title (in English) | |
Keyword(1) | multi-wheel vehicle |
Keyword(2) | linkage mechanism |
Keyword(3) | stairs climbing |
Keyword(4) | elastic materials |
Keyword(5) | feedback control with time delay |
1st Author's Name | Tatsuyuki URATA |
1st Author's Affiliation | Kyushu Institute of Technology() |
2nd Author's Name | Hiroaki WAGATSUMA |
2nd Author's Affiliation | Kyushu Institute of Technology |
Date | 2014-01-20 |
Paper # | NC2013-76 |
Volume (vol) | vol.113 |
Number (no) | 382 |
Page | pp.pp.- |
#Pages | 6 |
Date of Issue |