TY - GEN
T1 - A design of a small mobile robot with a hybrid locomotion mechanism of wheels and multi-rotors
AU - Tanaka, Katsuaki
AU - Zhang, Di
AU - Inoue, Sho
AU - Kasai, Ritaro
AU - Yokoyama, Hiroya
AU - Shindo, Koki
AU - Matsuhiro, Ko
AU - Marumoto, Shigeaki
AU - Ishii, Hiroyuki
AU - Takanishi, Atsuo
N1 - Funding Information:
This study was conducted at the Waseda Research Institute for Science and Engineering, the Humanoid Robotics Institute, and the Waseda University’s Future Robotics Organization. This research is supported by the Consolidated Research Institute for Advanced Science and Medical Care, Waseda University (ASMeW), SolidWorks K.K., JSPS Research Fellowships for Young Scientists, Leading Graduate Program in Science and Engineering, Waseda University from MEXT, Japan.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/23
Y1 - 2017/8/23
N2 - 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.
AB - 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.
KW - Disaster robot
KW - Drone
KW - Field robot
KW - Locomotion mechanism
KW - Mobile robot
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U2 - 10.1109/ICMA.2017.8016039
DO - 10.1109/ICMA.2017.8016039
M3 - Conference contribution
AN - SCOPUS:85030311308
T3 - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
SP - 1503
EP - 1508
BT - 2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th IEEE International Conference on Mechatronics and Automation, ICMA 2017
Y2 - 6 August 2017 through 9 August 2017
ER -