Design and control of a mobile robot with an articulated body
- Tokyo Institute of Technology (Japan)
Mobile robots having good terrain adaptability, sufficient payload capability, and high mobility are now urgently in demand. In this paper, design of a practical mobile robot is attempted, with an inspection task in a nuclear reactor as a concrete objective for development. The configuration of the mobile robot is first discussed. A wheel with crawler track, legs, and a snake-like articulated body are shown to be three fundamental configuration. A hybrid configuration consisting of an articulated body and a crawler track is most adequate for the nuclear rector robot because of its excellent terrain adaptability, sufficient payload capability, and high mobility. Design of the joint structure of the articulated body is discussed. Basic control problems such as signal processing for tactile sensors and control of statically indeterminant forces are also investigated. A mechanical model KR I, a robot with six articulated body segments, 16 degrees of freedom, length 1,391 mm, and weight 27.8 kb, is constructed and several experiments are done to demonstrate the basic mobility of the robot and to show the validity of introducing force control.
- OSTI ID:
- 6185986
- Journal Information:
- International Journal of Robotics Research; (USA), Journal Name: International Journal of Robotics Research; (USA) Vol. 9:2; ISSN 0278-3649; ISSN IJRRE
- Country of Publication:
- United States
- Language:
- English
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ASIA
CONFIGURATION
CONTROL SYSTEMS
DATA PROCESSING
DESIGN
INSPECTION
JAPAN
MOBILITY
PROCESSING
REACTORS
ROBOTS
SCALE MODELS
SIGNALS
SPECIFICATIONS
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