Blade-type crawler vehicle with gyro wheel for stably traversing uneven terrain at high speed

Yasuyuki Yamada; Hirotaka Sawada; Takashi Kubota; Taro Nakamura

ICRA 2017poster5 citations

Blade-type crawler vehicle with gyro wheel for stably traversing uneven terrain at high speed

Yasuyuki Yamada, Hirotaka Sawada, Takashi Kubota, Taro Nakamura

Abstract

Unmanned rescue, observation, and/or research vehicles with high terrain adaptability, high speed, and high reliability are needed in difficult-to-reach locations. However, for most vehicles, high performance over rough terrain reduces the travel speed and/or requires complex mechanisms. We have developed a blade-type crawler robot with a very simple and reliable mechanism, which traverses uneven terrain at high speed. Moreover, the gyro wheel design stabilizes the success of this approach in improving the motion, ensuring robust traversal. The improvement in traveling speed and robustness over uneven terrain by our approach was confirmed by experiment.

BibTeX

@inproceedings{icra2017_bladetypecrawler,
  title = {Blade-type crawler vehicle with gyro wheel for stably traversing uneven terrain at high speed},
  author = {Yasuyuki Yamada and Hirotaka Sawada and Takashi Kubota and Taro Nakamura},
  booktitle = {ICRA 2017},
  year = {2017}
}