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.
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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
Conference Date 2014/1/13(1days)
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Registration To Neurocomputing (NC)
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