Planar Omnidirectional Crawler Mobile Mechanism - Development of Actual Mechanical Prototype and Basic Experiments

Kenjiro Tadakuma; Eri Takane; Masahiro Fujita; Akito Nomura; Hirone Komatsu; Masashi Konyo; Satoshi Tadokoro

RA-L 201817 citations

Planar Omnidirectional Crawler Mobile Mechanism - Development of Actual Mechanical Prototype and Basic Experiments

Kenjiro Tadakuma, Eri Takane, Masahiro Fujita, Akito Nomura, Hirone Komatsu, Masashi Konyo, Satoshi Tadokoro

Abstract

This letter proposes a planar omnidirectional crawler mobile mechanism. This mechanism is the basis for the mobility of search and rescue robots. A planar omnidirectional crawler aims to facilitate penetration into a narrow path and soft or fragile ground. In this letter, the effectiveness of the proposed transmission mechanism is experimentally determined. In addition, a planar omnidirectional crawler equipped with a transmission mechanism was developed, and its characteristics were investigated through experiments for the pressure applied to the ground.

BibTeX

@inproceedings{ral2018_planaromnidirect,
  title = {Planar Omnidirectional Crawler Mobile Mechanism - Development of Actual Mechanical Prototype and Basic Experiments},
  author = {Kenjiro Tadakuma and Eri Takane and Masahiro Fujita and Akito Nomura and Hirone Komatsu and Masashi Konyo and Satoshi Tadokoro},
  booktitle = {RA-L 2018},
  year = {2018}
}