Abstract
When a tracked robot moves in a volcanic environment, the robot often has to climb over unfixed obstacles such as rocks on the loose ground. On the other hand, tracked robots with sub-tracks have been proposed, and the climbing performance of these robots on fixed obstacles can be improved by optimally controlling the sub-tracks. However, the effect of sub-tracks on climbing over unfixed obstacles has not been clear. In this study, the effect of sub-tracks on the improvement of the climbing performance of tracked robots over unfixed obstacles was investigated. Specifically, the conditions that a tracked robot should meet in climbing over an unfixed cylindrical obstacle were derived. An experiment with a real robot revealed that the derived climbing-over conditions are valid, and that the climbing-over capability of the tracked robot can be increased by setting the sub-track angle optimally. Furthermore, the motion strategies of sub-tracks are discussed based on the experimental results.
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Yajima, R., Nagatani, K. (2021). Obstacle Climbing of Tracked Robot for Unfixed Cylindrical Obstacle Using Sub-tracks. In: Ishigami, G., Yoshida, K. (eds) Field and Service Robotics. Springer Proceedings in Advanced Robotics, vol 16. Springer, Singapore. https://doi.org/10.1007/978-981-15-9460-1_14
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DOI: https://doi.org/10.1007/978-981-15-9460-1_14
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