Title :
Throwable tetrahedral robot with transformation capability
Author :
Tadakuma, Kenjiro ; Tadakuma, Riichiro ; Nagatani, Keiji ; Yoshida, Kazuya ; Aigo, Ming ; Shimojo, Makoto ; Iagnemma, Karl
Author_Institution :
Univ. of Electro-Commun., Chofu, Japan
Abstract :
In this paper, a tetrahedral mobile robot with central axis for transformation to the flat vehicle is presented. The throwable robot with the function of going into narrow spaces when its in the flat-vehicle mode is explained in detail. A prototype has been developed to illustrate the concept. Motion experiments confirm the novel properties of this mechanism: mode changing function and omnidirectional motion. Basic Motion experiments, with a test vehicle are also presented.
Keywords :
mobile robots; flat-vehicle mode; mode changing function; omnidirectional motion; test vehicle; tetrahedral mobile robot; throwable tetrahedral robot; transformation capability; Intelligent robots; Mechanical factors; Mobile robots; Orbital robotics; Propulsion; Protection; Prototypes; USA Councils; Vehicles; Wheels; Mechanical Design; Omni-Ball; Search and Rescue; Tetrahedral Shaped; Throwable; Transformation;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354196
