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A modular crawler-driven robot: Mechanical design and preliminary experiments
Quan, Qiquan; Ma SG(马书根)
作者部门机器人学研究室
会议名称2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
会议日期October 11-15, 2009
会议地点St Louis, MO, USA
会议主办者IEEE Robot & Automat Soc (RA), Robot Soc Japan (RSJ), Soc Instruments & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot
会议录名称2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009)
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2009
页码639-644
收录类别EI ; CPCI(ISTP)
EI收录号20100712704035
WOS记录号WOS:000285372900112
产权排序2
ISBN号978-1-4244-3803-7
摘要This paper presents a tracked robot composed of the proposed crawler mechanism, in which a planetary gear reducer is employed as the transmission device and provides two outputs in different forms with only one actuator. When the crawler moves in a rough environment, collision between mechanism and environment inevitably occurs. This under-actuated crawler can absorb the impact energy that should be transmitted to the actuator. A modular concept for the crawler is proposed for enlarging its use in robot systems and mechanical design of a modular crawler is conducted. Using this crawler module, a four-crawler-driven robot is realized by easily assembling. Experiments are conducted to verify the proposed concept and mechanical design. A single crawler module can well perform the proposed three locomotion modes. The four-crawler-driven robot has good adaptability to the environment which can get over obstacles both passively and actively.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20039
专题机器人学研究室
通讯作者Quan, Qiquan
作者单位1.Department of Robotics, Ritsumeikan University, Japan
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China
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Quan, Qiquan,Ma SG. A modular crawler-driven robot: Mechanical design and preliminary experiments[C]//IEEE Robot & Automat Soc (RA), Robot Soc Japan (RSJ), Soc Instruments & Control Engn, IEEE Ind Elect Soc, Inst Control, Robot & Syst Korea, ABB, Barrett Technol, Inc, Willow Garage, ROBOTIS, Aldebaran Robot. Piscataway, NJ, USA:IEEE Computer Society,2009:639-644.
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