Title :
Tetrahedral Mobile Robot with Novel Ball Shape Wheel
Author :
Tadakuma, Kenjiro
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Tokyo Inst. of Technol.
Abstract :
In this paper, a mobile robot with a tetrahedral shape for its basic structure is presented as a thrown robot for search and rescue robot application. The Tetrahedral Mobile Robot has its body in the center of the whole structure. The driving parts that produce the propelling force are located at each corner. As a driving wheel mechanism, we have developed the "Omni-Ball" with one active and two passive rotational axes, which are explained in detail. An actual prototype model has been developed to illustrate the concept and to perform preliminary motion experiments, through which the basic performance of the Tetrahedral Mobile Robot was confirmed
Keywords :
mobile robots; remotely operated vehicles; service robots; actual prototype model; ball shape wheel; driving wheel mechanism; omni-ball; omni-directional wheel; search-and-rescue robot application; tetrahedral mobile robot; thrown robot motion; Buildings; Crawlers; Fatigue; Mobile robots; Orbital robotics; Propulsion; Protection; Prototypes; Shape; Wheels;
Conference_Titel :
Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS International Conference on
Conference_Location :
Pisa
Print_ISBN :
1-4244-0040-6
DOI :
10.1109/BIOROB.2006.1639213
