The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2019
Session ID : 2P1-B04
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Development of a Wheel Robot which Locally Transforms a Diameter
*Naoki MORIYAHiroki SHIGEMUNEHideyuki SAWADA
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Abstract

We have developed a wheel robot which locally transforms its diameter to improve mobility of a wheel on uneven terrain. Our wheel robot locomotes on a flat road with high mobility of a wheel and on rough terrains by changing its diameters. We developed a variable diameter wheel as a prototype of the wheel robot and investigated its availability. In this paper、the wheel robot did not have an axle motor, however the robot could locomote by utilizing expansion and contraction of diameters with moving a center of gravity. We tested its mobility through the two experiments.

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© 2019 The Japan Society of Mechanical Engineers
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