A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors

Katsuaki Tanaka, Di Zhang, Sho Inoue, Ritaro Kasai, Hiroya Yokoyama, Koki Shindo, Ko Matsuhiro, Shigeaki Marumoto, Hiroyuki Ishii, Atsuo Takanishi

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)

    Abstract

    We developed a small mobile robot in response to the demands in the disaster area. A hybrid locomotion mechanism of wheels and multi-rotors are proposed to realize both high locomotion performance and long-term operation. The wheels allow to highly maneuverable move in a narrow space, and the multi-rotors allow to move to a higher position. The objective of this study is to design the locomotion mechanism and develop a platform for confirming the basic locomotion performance. We attached a wheel mechanism into the assembled hobby drone and embedded an electrical system to operate the robot. The wheels also contribute to protect the multi-rotors from obstacles such as rubble. A stabilizer was proposed to stabilize the robot during running with wheels and designed to allow recover from flipping state. The significant of this work is not only improving the locomotion performance of the drone, but also increase the operating time, this leads various uses at disaster sites. In this paper, the details of the locomotion mechanism and some experimental results using the developed platform are shown.

    Original languageEnglish
    Title of host publication2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    Pages1503-1508
    Number of pages6
    ISBN (Electronic)9781509067572
    DOIs
    Publication statusPublished - 2017 Aug 23
    Event14th IEEE International Conference on Mechatronics and Automation, ICMA 2017 - Takamatsu, Japan
    Duration: 2017 Aug 62017 Aug 9

    Other

    Other14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
    CountryJapan
    CityTakamatsu
    Period17/8/617/8/9

    Fingerprint

    locomotion
    Locomotion
    wheels
    robots
    Mobile Robot
    Wheel
    Mobile robots
    Rotor
    rotors
    Wheels
    Rotors
    disasters
    Disasters
    Disaster
    Robots
    platforms
    Robot
    Design
    Experimental Results

    Keywords

    • Disaster robot
    • Drone
    • Field robot
    • Locomotion mechanism
    • Mobile robot

    ASJC Scopus subject areas

    • Control and Optimization
    • Instrumentation
    • Artificial Intelligence
    • Industrial and Manufacturing Engineering
    • Mechanical Engineering

    Cite this

    Tanaka, K., Zhang, D., Inoue, S., Kasai, R., Yokoyama, H., Shindo, K., ... Takanishi, A. (2017). A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 (pp. 1503-1508). [8016039] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMA.2017.8016039

    A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors. / Tanaka, Katsuaki; Zhang, Di; Inoue, Sho; Kasai, Ritaro; Yokoyama, Hiroya; Shindo, Koki; Matsuhiro, Ko; Marumoto, Shigeaki; Ishii, Hiroyuki; Takanishi, Atsuo.

    2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1503-1508 8016039.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Tanaka, K, Zhang, D, Inoue, S, Kasai, R, Yokoyama, H, Shindo, K, Matsuhiro, K, Marumoto, S, Ishii, H & Takanishi, A 2017, A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors. in 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017., 8016039, Institute of Electrical and Electronics Engineers Inc., pp. 1503-1508, 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017, Takamatsu, Japan, 17/8/6. https://doi.org/10.1109/ICMA.2017.8016039
    Tanaka K, Zhang D, Inoue S, Kasai R, Yokoyama H, Shindo K et al. A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors. In 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1503-1508. 8016039 https://doi.org/10.1109/ICMA.2017.8016039
    Tanaka, Katsuaki ; Zhang, Di ; Inoue, Sho ; Kasai, Ritaro ; Yokoyama, Hiroya ; Shindo, Koki ; Matsuhiro, Ko ; Marumoto, Shigeaki ; Ishii, Hiroyuki ; Takanishi, Atsuo. / A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors. 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1503-1508
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