The effect of the left and right phase on the climbing ability of notched wheel

K. Tanaka, Hiroyuki Ishii, D. Endo, J. Mitsuzuka, S. Okabayashi, Q. Shi, Y. Sugahara, Atsuo Takanishi

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

    Abstract

    The ability of climbing steps and slopes are required for on-land tiny mobile robot to move on rough terrain in the riverside area. We have already proposed a new wheel shape; notched wheel that can satisfy the maximum potential of the abilities and easily calculate the abilities. However, the model has not mentioned the phase difference between the left and right wheels. We found that the method of phase difference is so effective to improve the climbing ability of slopes. The climbing step ability become high when the right side of the notched wheels is π/2 different from left side wheels. In this paper, we describe the details of the methods and show some experimental results.

    Original languageEnglish
    Title of host publicationAdvances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
    PublisherWorld Scientific Publishing Co. Pte Ltd
    Pages514-522
    Number of pages9
    ISBN (Print)9789813149120
    Publication statusPublished - 2016
    Event19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 - London, United Kingdom
    Duration: 2016 Sep 122016 Sep 14

    Other

    Other19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
    CountryUnited Kingdom
    CityLondon
    Period16/9/1216/9/14

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    ASJC Scopus subject areas

    • Human-Computer Interaction
    • Artificial Intelligence

    Cite this

    Tanaka, K., Ishii, H., Endo, D., Mitsuzuka, J., Okabayashi, S., Shi, Q., Sugahara, Y., & Takanishi, A. (2016). The effect of the left and right phase on the climbing ability of notched wheel. In Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016 (pp. 514-522). World Scientific Publishing Co. Pte Ltd.