The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We have proposed Flexible Mono-tread mobile Track (FMT) as a mobile mechanism for hazardous environment such as disaster area. FMT has only one track which can flex in three dimension. Generally speaking, one has to teleoperate robots under invisible condition. In order to operate the robots skillfully, it is necessary to detect not only condition around the robots and its position but also posture...
In this paper, the basic running performance of the cylindrical tracked vehicle with sideways mobility is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly...
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...
For tracked vehicles moving over rough terrain, it is important to avoid rollovers and rapid motion. To realize smooth locomotion on rough terrain, some tracked vehicles are equipped with ??active flippers.?? Such flippers increase the traversability and stability of tracked vehicles. However, their control increases the operator workload, especially in the case of teleoperation. To eliminate this...
In this paper, the authors present a path planing system for autonomous navigation of lunar/planetary rover. In the path planner, candidate paths are generated and evaluated by multiple criteria including occlusion index, terrain roughness/inclination indices. The proposed system considers the occlusion effect produced by obstacles present in the inspected environment and the features of the environment...
In the paper, we show mobility and operability of flexible mono-tread mobile track (FMT) through experiments. For mobility, FMT can climb over a thin plate, recover from lying position on its side, and side wind. As a result, it is partly proven that FMT has enough ability for the complex environment. For operability, FMT is better than a differential type track vehicle in the case that vehicle traces...
Localization and mapping are essential elements in the design of mobile robots used for search and rescue mission. Localization is a key-function of remote control and mapping in an unstructured environment. However, in general, odometry in tracked vehicles is ambiguous because of the track slippage. To solve this problem, we developed a three-dimensional gyro-based odometry that considers the compensation...
We are proceeding with the development of a multi-processor version of a traffic simulator. Windows multi-display feature resembles our system in the point that multi-displays are used. So we made performance comparison between them. Finally we verified our multi-processor version is almost two times faster than Windows multi-display feature in the case of two displays.
In this paper, a novel crawler mechanism for sideways motion is presented. The crawler mechanism is of circular cross-section and has active rolling axes at the center of the circles. Conventional crawler mechanisms can support massive loads, but cannot produce sideways motion. Additionally, previous crawler edges sink undesirably on soft ground, particularly when the vehicle body is subject to a...
In the past decade, search robots in rescue operations have been focused on and developed for the purpose of finding survivors trapped in the rubble of collapsed buildings. Most of them adopt serpentine mechanisms: they comprise of track-equipped segments that are connected by joints to obtain greater mobility in extremely complex environments. However, they might gather to catch debris between tracks...
Active flippers for tracked vehicles are very useful to improve traversability on uneven terrain. However it is widely known that control of flippers also increases the work-load for operators, particularly where the vehicle and the operator are far apart. To reduce the work-load, we aim to realize a sensor-based autonomous controller of flippers to enable a dasiasemi-autonomous operationpsila of...
Active flippers for tracked vehicles are very useful to improve traversability on uneven terrain. However it is widely known that control of flippers also increases the work-load for operators, particularly where the vehicle and the operator are far apart. To reduce the work-load, we aim to realize a sensor-based autonomous controller of flippers to enable a ldquosemi-autonomous operationrdquo of...
In this paper, a trafficability analysis for the exploration rover is described. A rover traveling on loose terrain often experiences its slippages (wheel slips or vehicle sideslip), and in particular, these slips become larger when the rover traverses on sandy slopes. The authors have investigated traction mechanics of a rigid wheel of the rover on loose terrain with paying attention to slipping...
Kalman filters have been widely used for navigation in mobile robotics. One of the key problems associated with Kalman filter is how to assign suitable statistical properties to both the dynamic and the observational models. For GPS-based localization of a rough-terrain mobile robot, the maneuver of the vehicle and the level of measurement noise are environmental dependent, and hard to be predicted...
The one of the authors Dr. K. Yoshida has been proposed a new controlled-repulsive Maglev vehicle, which can levitate, propel and guide simultaneously from a standstill, independently of the vehicle speeds. A combined levitation-propulsion-guidance control experiment using LSM only in the PM LSM controlled-repulsive Maglev model vehicle has been succeeded. But the pitching motion could not be restrained...
Marine express (ME) is amphibious superconducting magnetic levitation train that can run both underwater and on-land using the same guideway. The underwater experimental Maglev model vehicle ME02 in our laboratory is driven by the long-stator permanent magnet linear synchronous motor (PM LSM). Having the two motions freedom establishes the possibility for the undesired rotational pitching motion in...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.