The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2024
Session ID : 1A1-I10
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Autonomous Angle Control of Subcrawlers on Continuous Ramp Course
*Ryoma SHOJIKeitaro NARUSE
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Abstract

This study presents the development of an autonomous control method of an angle of subcrawlers so that a vehicle body can maintain level when moving over a mountain or valley on a continuous ramp course, which is one of the test courses for disaster response robots. The developed controller assumes to have a terrain model beforehand and determines an angle of the subcrawlers by geometrical constraints. We verify the proposed controller with numerical simulations.

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© 2024 The Japan Society of Mechanical Engineers
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