ICRA'09 Paper Abstract


Paper FrA2.11

Tadakuma, Kenjiro (Massachusetts Institute of Technology), Tadakuma, Riichiro (Harvard University), Nagatani, Keiji (Tohoku University), Yoshida, Kazuya (Tohoku University), Udengaard, Martin (MIT), Iagnemma, Karl (MIT), Ming, Aiguo (The University of Electro-Communications), Shimojo, Makoto (University of Electro-COmmunications)

Tracked Vehicle with Circular Cross-Section to Realize Sideways Motion

Scheduled for presentation during the Video Sessions "Video Session" (FrA2), Friday, May 15, 2009, 09:30−09:36, Room: ICR

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 24, 2022

Keywords Mechanism Design, Search and Rescue Robots, Field Robots


In this video, a novel tracked mechanism for sideways motion is presented. The tracked mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional tracked mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a sideways tilt. The proposed design solves these drawbacks by adopting a circular cross-section track. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: sideways motion and robustness against edge-sink. Motion experiments, with a test vehicle are also presented.



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