TY - GEN
T1 - The effect of the left and right phase on the climbing ability of notched wheel
AU - Tanaka, K.
AU - Ishii, H.
AU - Endo, D.
AU - Mitsuzuka, J.
AU - Okabayashi, S.
AU - Shi, Q.
AU - Sugahara, Y.
AU - Takanishi, A.
N1 - Publisher Copyright:
© 2016, World Scientific Publishing Co. Pte Ltd. All rights reserved.
PY - 2016
Y1 - 2016
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84999766519&partnerID=8YFLogxK
U2 - 10.1142/9789813149137_0061
DO - 10.1142/9789813149137_0061
M3 - Conference contribution
AN - SCOPUS:84999766519
SN - 9789813149120
T3 - Advances in Cooperative Robotics: Proceedings of the 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
SP - 514
EP - 522
BT - Advances in Cooperative Robotics
PB - World Scientific Publishing Co. Pte Ltd
T2 - 19th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2016
Y2 - 12 September 2016 through 14 September 2016
ER -