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Accession number;05A0961264
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| Title;Development of leg-wheeled type mobile robot IMR-Type1 |
| Author;
SONEHARA MITSUHARU
(Ishihari)
YAMAMOTO TADAYUKI
(Ishihari)
UEMURA SHUICHI
(Ishihari)
KITAZONO SHINJI
(Ishihari)
MURAKAMI HIROKI
(Ishihari)
HOSHINO SHUJI
(Ishihari)
MIZUKAWA MAKOTO
(Shibaura Inst. Technol., JPN)
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Journal Title;Nippon Kikai Gakkai Robotikusu, Mekatoronikusu Koenkai Koen Ronbunshu (CD-ROM)
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Journal Code:L0318B
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ISSN:
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VOL.2005;NO.;PAGE.ALL-N-013(2005)
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| Figure&Table&Reference;FIG.4, TBL.1, REF.2 |
| Pub. Country;Japan |
| Language;Japanese |
| Abstract;We propose a new leg-wheeled type mobile robot IMR-Type1 (prototype) to be able to move around indoors efficiently. This mechanism has 3 slide legs, 2 hip joints, 4 ankle joints and 2 wheels for each ankle. It can move by wheels when it stands with own legs apart in order to keep balance. In addition, this robot can go up and down the stairs by its legs like human dynamic walking. This paper introduces the concept of this robot, operating image, basic mechanical configuration, and configuration of distributed control system used CAN (Controller Area Network) for robot's inside LAN. (author abst.) |
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