追加アクチュエータ不要でオムニクローラから大型ホイールへ変形する新型モジュール
Novel Compliant omnicrawler-wheel transforming module
追加アクチュエータなしでクローラ型から大径・小幅ホイール型へ変形できる機構を開発し、CObRaSOの移動性能を向上させた。
著者: Akash Singh, Vinay Rodrigues, Enna Sachdeva, Sai Hanisha, Madhava Krishna
分類: cs.RO
原文アブストラクト
This paper presents a novel design of a crawler robot which is capable of transforming its chassis from an Omni crawler mode to a large-sized wheel mode using a novel mechanism. The transformation occurs without any additional actuators. Interestingly the robot can transform into a large diameter and small width wheel which enhances its maneuverability like small turning radius and fast/efficient locomotion. This paper contributes on improving the locomotion mode of previously developed hybrid compliant omnicrawler robot CObRaSO. In addition to legged and tracked mechanism, CObRaSO can now display large wheel mode which contributes to its locomotion capabilities. Mechanical design of the robot has been explained in a detailed manner in this paper and also the transforming experiment and torque analysis has been shown clearly
