Omni-Paddle: Amphibious Spherical Rotary Paddle Mechanism
This paper describes a combination mechanism of a wheeground a paddle to realize an effective movement on the border of ground and water. For the conventional mobile mechanisms on water or on ground the combination of the mechanism to the body of the robot separately, and each one can be the interruption to the other in each field. In this research, we propose a hybrid mechanism of a wheeground a paddle as drive mechanism itself to realize an effective movement on the border such as a coast with debris after a disaster like a seismic sea wave or a tanker grounding accident. A prototype robot has been built and basic experiments on its motion have been conducted.
Mechanism Omnidirectional Mobility Rotary Paddle Wheel Omni-Paddle
Kenjiro TADAKUMA Riichiro TADAKUMA Ming Aigo Makoto Shimojo Mitsuru HIGASHIMORI Makoto KANEKO
Osaka University Yamagata University UEC
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5056-5062
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）