Development of mobile system using leg-type crawler for rough terrain

被引：0
|
作者：
Yokota, S [1 ]
Kobayashi, H [1 ]
Kawabata, K [1 ]
机构：
[1] Hosei Univ, Coll Engn, Tokyo, Japan
来源：
CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES | 2003年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The purpose of this study is to develop a new mobile system using "Leg-type crawler" mechanism. Our proposed "Leg-type crawler" mechanism realizes flexible mobility in rough terrain environments. The mobile system, which consists of four leg-type crawler units including mechanisms and controller, can adopt several moving configurations. Since we adopt uni-modular structure for the leg-type crawlers, we can replace the legs easily. Even one of the leg-type crawler breaks down, the robot can continue moving by detaching the broken unit. This paper shows the outline of the proposed leg-type crawler units, as well as basic experimental results and a proposal basic on control law for this system.
引用
收藏
页码：301 / 307
页数：7
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