Planar Omnidirectional Crawler Mobile Mechanism - Development of Actual Mechanical Prototype and Basic Experiments -
Kenjiro Tadakuma, Eri TAKANE, Masahiro Fujita, Akito Nomura, Hirone KOMATSU, Masashi Konyo, Satoshı Tadokoro · IEEE Robotics and Automation Letters · 2017
This letter proposes a planar omnidirectional crawler mobile mechanism. This mechanism is the basis for the mobility of search and rescue robots. A planar omnidirectional crawler aims to facilitate penetration into a narrow path and soft or fragile ground. In this letter, the effectiveness of the proposed transmission mechanism is experimentally determined. In addition, a planar omnidirectional crawler equipped with a transmission mechanism was developed, and its characteristics were investigated through experiments for the pressure applied to the ground.