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Paper Abstract and Keywords
Presentation 2014-01-20 16:10
A proposal of expansion and contraction mechanism for chaning wheel distances in the bio-inspired multi-wheel vehicle connected with elastic materials
Tatsuyuki Urata, Hiroaki Wagatsuma (Kyushu Inst. of Tech.) NC2013-76
Abstract (in Japanese) (See Japanese page) 
(in English) Wheels are used for transporting objects and people in a wide range of areas. In principle, wheels require a well-prepared road surface for preventing a slipping, and basically it is not suitable for climbing slope with a high gradient. Crawler vehicle is an effective option as climbing mechanisms, which is currently popular in rescue robots, while multi-wheel vehicle is still used for planetary explorers because of less complexity in the assembly level rather than crawlers. We have been investigated a possibility of multi-wheel vehicles for an application to stairs-climbing, by using a bio-inspired linkage mechanism with elastic materials. In our past report, we demonstrated that the vehicle has an ability to climb stars in some level, but a spontaneous flexibility of the material is not enough for wheel engagement with star surface. In the present study, we proposed a contraction mechanism of the distance between wheels, like muscle, by using a sensori-motor feedback control with two elastic blades. In our real robotic experiment, the proposed mechanism works depending on a suitable elasticity difference of upper and lower blades.
Keyword (in Japanese) (See Japanese page) 
(in English) multi-wheel vehicle / linkage mechanism / stairs climbing / elastic materials / feedback control with time delay / / /  
Reference Info. IEICE Tech. Rep., vol. 113, no. 382, NC2013-76, pp. 55-60, Jan. 2014.
Paper # NC2013-76 
Date of Issue 2014-01-13 (NC) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
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Conference Information
Committee NC  
Conference Date 2014-01-20 - 2014-01-21 
Place (in Japanese) (See Japanese page) 
Place (in English) Kyusyu Institute of Technology 
Topics (in Japanese) (See Japanese page) 
Topics (in English)  
Paper Information
Registration To NC 
Conference Code 2014-01-NC 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) A proposal of expansion and contraction mechanism for chaning wheel distances in the bio-inspired multi-wheel vehicle connected with elastic materials 
Sub Title (in English) * 
Keyword(1) multi-wheel vehicle  
Keyword(2) linkage mechanism  
Keyword(3) stairs climbing  
Keyword(4) elastic materials  
Keyword(5) feedback control with time delay  
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Keyword(7)  
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1st Author's Name Tatsuyuki Urata  
1st Author's Affiliation Kyushu Institute of Technology (Kyushu Inst. of Tech.)
2nd Author's Name Hiroaki Wagatsuma  
2nd Author's Affiliation Kyushu Institute of Technology (Kyushu Inst. of Tech.)
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Speaker Author-1 
Date Time 2014-01-20 16:10:00 
Presentation Time 25 minutes 
Registration for NC 
Paper # NC2013-76 
Volume (vol) vol.113 
Number (no) no.382 
Page pp.55-60 
#Pages 6 
Date of Issue 2014-01-13 (NC) 

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