Development of mobile system using leg-type crawler for rough terrain

Authors: Yokota, Sho; Kawabata, Kuniaki; Kobayashi, Hisato

Source: Industrial Robot: An International Journal, Volume 31, Number 2, 2004 , pp. 218-223(6)

Publisher: Emerald Group Publishing Limited

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Abstract:

The purpose of this study is to develop a new mobile system using "leg-type crawler" mechanism. Our proposed "leg-type crawler" mechanism realizes flexible mobility on rough terrain environments. The mobile system, which consists of four leg-type crawler units including mechanisms and controller, can adopt several moving configurations. Since we adopt unimodular structure for the leg-type crawlers, we can replace the legs easily. This paper shows the outline of the proposed leg-type crawler units, as well as basic experimental results, proposal of basic control law for this system and verification by experiment.

Keywords: Motion; Robotics

Document Type: Research article

DOI: http://dx.doi.org/10.1108/01439910410522892

Publication date: 2004-04-01