Title :
Torus omnidirectional driving unit mechanism realized by curved crawler belts
Author :
Tadakuma, Kenjiro ; Ogata, Hiroaki ; Tadakuma, Riichiro ; Berengueres, Jose
Author_Institution :
Dept. of Mech. Eng., Osaka Univ., Suita, Japan
fDate :
May 31 2014-June 7 2014
Abstract :
In this research, omnidirectional crawler unit with the torus configuration is proposed. It is composed of two curved crawler belts whose inner and outer trajectories have the same length. The prototype is designed and developed. The basic motion of the prototype is confirmed experimentally.
Keywords :
mobile robots; motion control; trajectory control; curved crawler belts; omnidirectional crawler unit; omnidirectional motion; torus omnidirectional driving unit mechanism; trajectory; Automation; Belts; Conferences; Crawlers; Educational institutions; Prototypes; Robots;
Conference_Titel :
Robotics and Automation (ICRA), 2014 IEEE International Conference on
Conference_Location :
Hong Kong
DOI :
10.1109/ICRA.2014.6907224
