A Robotic Wheel Locally Transforming the Diameter for the Locomotion on Rough Terrain

Naoki Moriya, Hiroki Shigemune, Hideyuki Sawada

研究成果: Conference contribution

抄録

A locomotion ability of robots has been studied to move on a various terrain stably. We are developing a robotic wheel which locally transforms its diameter to improve the mobility on an uneven terrain. The robotic wheel locomotes on a flat road using the high mobility of a wheel, and also on rough terrains by changing its diameters. We introduce a variable diameter wheel as a prototype of the robotic wheel, and investigate its availability. Without installing an axle motor, the robot is able to locomote by utilizing the extension and returning of the diameters by moving its centre of gravity. The extension of the spokes works to push the robotic body in order to locomote, and the returning of the spokes make the wheel get the rotation momentum. The extension and returning mechanism is driven by rack pinion mechanism. We verified its mobility through four experiments, which are the testing locomotion on flat ground, the climbing over the step, controlling the robotic wheel by IMU, and the braking by the extension of spokes. The trajectory which the tip of the spoke draws is also compared with the simulation using MATLAB.

本文言語English
ホスト出版物のタイトル2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1257-1262
ページ数6
ISBN(電子版)9781728164151
DOI
出版ステータスPublished - 2020 10 13
外部発表はい
イベント17th IEEE International Conference on Mechatronics and Automation, ICMA 2020 - Beijing, China
継続期間: 2020 10 132020 10 16

出版物シリーズ

名前2020 IEEE International Conference on Mechatronics and Automation, ICMA 2020

Conference

Conference17th IEEE International Conference on Mechatronics and Automation, ICMA 2020
CountryChina
CityBeijing
Period20/10/1320/10/16

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization

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