Development of Jumping & Rolling Inspector to Improve the Debris-traverse Ability

Autor:	Yotaro Mori, Hideyuki Tsukagoshi, Ato Kitagawa, Takahiro Tanaka, Masashi Sasaki
Rok vydání:	2003
Předmět:	Rescue robot Engineering Traverse General Computer Science business.industry Control engineering medicine.disease_cause Debris Robot control Jumping medicine Electrical and Electronic Engineering business Simulation Jumping robot
Zdroj:	Journal of Robotics and Mechatronics. 15:482-490
ISSN:	1883-8049 0915-3942
Popis:	The design and motion experiments of the newly constructed jumping & rolling inspector Leg-in-rotor-II are discussed. The features of Leg-in-rotor-II are as follows: (i) The driving method of 3-D jumping & rolling by the reduced degrees of freedom on the separated drive. (ii) The introduction of the passively stored leg. (iii) The introduction of the wheel with the light anisotropy elasticity of the high changing ratio. (iv) The pneumatic jumping control method and its energy saving. (v) The sensing method to estimate the desired jumping start point. (vi) The structure of the sideway tumble prevention and the shock buffer. Finally, the motion experiments of Leg-in-rotor-II to roll, jump and land on debris are shown and the validity of the introduced design methods is verified.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::f5b68e97eed04d79045b3db39cbebed4 https://doi.org/10.20965/jrm.2003.p0482 Zobrazit plný text záznamu