Step-climbing analysis of a novel tracked robot

被引：0
|
作者：
Lan, Guangping [1 ]
Ma, Shugen [1 ,2 ]
机构：
[1] Ibaraki Univ, Fac Engn, Dept Syst Engn, 4-12-1 Nakanarusawa Cho, Hitachi, Ibaraki 3168511, Japan
[2] CAS Shenyang Inst Automat, Robot Lab, Shenyang 110015, Peoples R China
来源：
2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS | 2006年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, we introduce a novel crawler-driven module that is capable of climbing over high steps autonomously, and present the cooperative driving of these two crawler-driven modules for increasing the robot mobility of step-climbing. The proposed mechanism of the crawler-driven module equipped with planetary gear reducers can provide two outputs in different form only be one actuator. Through experimental tests, it is known that the developed crawler-driven module can not only move on the even ground but also pass over high steps without any sensors for discriminating obstacles and any extra actuators or mechanisms for assistance. It is also shown by experimental tests that the mobility of the crawler-driven mechanism can be highly improved by cooperatively driving two of these crawler-driven modules.
引用
收藏
页码：544 / +
页数：2
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