Autonomous Climbing Motions for Connected Crawler Robots

被引：0

作者：

Yokota, She ^{[1
]}

Ohyama, Yasuhiro ^{[1
]}

Hashimoto, Hiroshi ^{[1
]}

She, Jin-Hua ^{[1
]}

Kawabata, Kuniaki ^{[2
]}

Kobayashi, Hisato ^{[3
]}

Blazevic, Pierre ^{[4
]}

机构：

[1] Tokyo Univ Technol, Sch Bion, Tokyo, Japan

[2] RIKEN, Saitama, Japan

[3] Hosei Univ, Fac Engn, Tokyo, Japan

[4] Inst Sci & Tech Yvelines, Mantes, France

来源：

ADVANCES IN CLIMBING AND WALKING ROBOTS, PROCEEDINGS | 2007年

关键词：

Crawler; Rough terrain; Step climbing; Autonomous motion; Connected crawler;

D O I：

10.1142/9789812770189_0010

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

The purpose of our research is to develop the mobile system for rough terrain. Our mobile system adopts the connected crawler mechanism. In this paper, we proposed the operation strategy for autonomous motions. We also made verification experiment of proposed operation strategy. For this verification, we prepared 2 kinds of experiment. These experimental results showed that the robot could pass over the different heights and different structures of obstacles by using only (same) strategy. Moreover the sensors which realize proposed strategy were very simple, and the number of sensor was very small. Therefore it could be concluded that proposed strategies had an extremely high usefulness.

引用

页码：73 / +

页数：2

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