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Authors: Sho Yokota 1 ; Yasuhiro Ohyama 1 ; Hiroshi Hashimoto 1 ; Jin-Hua She 1 ; Kuniaki Kawabata 2 ; Pierre Blazevic 3 and Hisato Kobayashi 4

Affiliations: 1 School of Bionics, Tokyo University of Technology, Japan ; 2 RIKEN, Japan ; 3 Institut des Sciences et Techniques des Yvelines, France ; 4 Faculty of Eng., Hosei University, Japan

Keyword(s): Crawler, Rough terrain, Step climbing, Autonomous motion, Connected crawler.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Space and Underwater Robotics

Abstract: The purpose of this paper is to develop a rough terrain mobile system. Our mobile system adopts the connected crawler mechanism. It had 3 connected stages with the motor-driven crawler tracks on each side. RC-servo motors were used for driving joints between the stages. This system also has a high mobility. In this paper, we showed the mechanical features, and proposed the operation strategies for autonomous motions. We have also made verification experiment of proposed operation strategy. For this verification, we did 2 types of experiment. One was that the robot passes over bumps with different heihgts. The other was stairs ascending. Both experiments had a great success. There were remarkable points in these experiments. These experiments showed that the robot can pass over the different height and different structual 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 can be concluded that proposed strategy has extremely high usefulness. (More)

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Paper citation in several formats:
Yokota, S.; Ohyama, Y.; Hashimoto, H.; She, J.; Kawabata, K.; Blazevic, P. and Kobayashi, H. (2007). DEVELOPMENT OF THE CONNECTED CRAWLER ROBOT FOR ROUGH TERRAIN - Realization of the Autonomous Motions. In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2; ISSN 2184-2809, pages 396-401. DOI: 10.5220/0001624203960401

@conference{icinco07,
author={Sho Yokota. and Yasuhiro Ohyama. and Hiroshi Hashimoto. and Jin{-}Hua She. and Kuniaki Kawabata. and Pierre Blazevic. and Hisato Kobayashi.},
title={DEVELOPMENT OF THE CONNECTED CRAWLER ROBOT FOR ROUGH TERRAIN - Realization of the Autonomous Motions},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={396-401},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001624203960401},
isbn={978-972-8865-83-2},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - DEVELOPMENT OF THE CONNECTED CRAWLER ROBOT FOR ROUGH TERRAIN - Realization of the Autonomous Motions
SN - 978-972-8865-83-2
IS - 2184-2809
AU - Yokota, S.
AU - Ohyama, Y.
AU - Hashimoto, H.
AU - She, J.
AU - Kawabata, K.
AU - Blazevic, P.
AU - Kobayashi, H.
PY - 2007
SP - 396
EP - 401
DO - 10.5220/0001624203960401