Articulated Body Mobile Robot
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TLDR
In this paper, the authors describe a scenario in which a vehicle is equipped with a transporter and a driver, and the driver is armed with a set of hand-crafted keys.Abstract:
多関節構造からなる新しい移動ロボットの提案を行う.提案する形態は車や無限軌道車, 脚方式と並んで移動ロボットを構成する基本形態の一つであり, 特に移動ロボットが狭い空間を多量の物資を積載して移動しなければならない場合に有効である.実際に全6節, 16自由度, 全長1, 391mm, 全重量27.8kgの機械モデルKR-Iを試作し, その駆動制御実験により提案する移動ロボットがある程度の高速移動性と対地適応性を有することを示す.read more
Citations
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Proceedings ArticleDOI
Development of optical six-axial force sensor and its signal calibration considering nonlinear interference
Shigeo Hirose,Kan Yoneda +1 more
TL;DR: An experimental setup in which the six-axial force sensor could be simultaneously input with plural axial forces was produced, and the proposed calibration method was shown to be valid.
Proceedings ArticleDOI
Design of practical snake vehicle: articulated body mobile robot KR-II
TL;DR: In this paper, the characteristics and the applications of the articulated body mobile robot, "Koryu (KR), a mobile robot with a new style of articulated body is identified, and the construction of the newly developed "koryu-II (KR-II)" is discussed.
Proceedings ArticleDOI
Changing Satellite Morphology through Cellularization
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Journal ArticleDOI
An efficient steering control formulation for the articulated body mobile robot “KR-II”
TL;DR: The derived method is based on a trajectory planning scheme in the inertial reference frame, and is feasible for real time computation and can be extended for KR-II's “W-Shaped Configuration” steering control, which augments the lateral stability of the robot, essential for locomotion over uneven terrain.