Mechanical Design of VmaxCarrier2: Omnidirectional Mobile Robot with Function of Step-Climbing
Kenjiro Tadakuma*, Riichiro Tadakuma**, and Shigeo Hirose*
*Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Okayama, Meguro-ku, Tokyo 152-8552, Japan
**Department of Advanced Interdisciplinary Studies, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
“VmaxCarrier2” is an omnidirectional mobile robot with step-climbing capability, usable as a compact, quiet, durable transport vehicle in cluttered, cramped environments. We have developed several kinds of omnidirectional mobile robots for situations where movement must be possible in any direction, such as “VUTON ” and “VmaxCarrier [2, 3].” To construct an omnidirectional mobile robot with a greatly improved capability to climb steps, we developed the Omni-Disc2, a Bent Pneumatic Actuator, and a pneumatic system. These novel components were constructed into a prototype, and through evaluation experiments we have confirmed improved step climbing capability of VmaxCarrier2.
-  S. Hirose, and S. Amano, “The VUTON: High Payload, High Efficiency Holonomic Omnidirectional Vehicle,” in Proc. 6th Int. Symp. On Robotics Research, 1993.
-  R. Damoto, W. Cheng, and S. Hirose, “Holonomic Omnidirectional Vehicle with New Omni-Wheel Mechanism,” In IEEE International Conference on Robotics and Automation ’01, Seoul, Korea, pp. 773-778, May 2001.
-  R. Damoto, and S. Hirose, “Development of Holonomic Omnidirectinal Vehicle “Vuton-II” with Omni-Discs,” Journal of Robotics and Mechatronics, Vol.14, No.2, pp. 186-192, 2002.
-  P. Chen, S. Mitsutake, T. Isoda, and T. Shi, “Omnidirectional robot and adaptive control method for off-road running,” IEEE Transactions on Robotics and Automation, Vol.18, No.2, pp. 251-256, 2002.
-  A. Yamashita, H. Asama, H. Kaetsu, I. Endo, and T. Arai, “Development of OmniDirectional and Step-Climbing Mobile Robot,” Proceedings of the 3rd International Conference on Field and ServiceRobotics (FSR2001), pp. 327-332, Espoo, Finland, June 2001.
-  S. Hirose, E. F. Fukushima, R. Damoto, and H. Nakamoto, “Design of terrain adaptive versatile crawler vehicle HELIOS-VI,” 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct. 29-Nov. 3, 2001, Proceedings, Vol.3, pp. 1540-1545.
-  K. Tadakuma, R. Tadakuma, and S. Hirose, “Development of VmaxCarrier2: Omnidirectional Mobile Robot with Function of Step-Climbing,” The 2004 IEEE International Conference on Robotics and Automation (ICRA2004), Proceedings ISBN: 0-7803-8233-1, pp. 3111-3118.
-  H. Tsukagoshi, Y. Mori, M. Sasaki, T. Tanaka, and A. Kitagawa, “Leg-in-rotor-II: a jumping inspector with high traverse-ability on debris,” 2004 IEEE International Conference on Robotics and Automation, April 26-May 1, 2004, Proceedings, Vol.2, pp. 1732-1739.
-  M. Rachkov, and A. T. de Almeida, “Mobile pneumatic robot for demining Marques,” 2002 IEEE International Conference on Robotics and Automation, May 11-15, 2002, Proceedings, Vol.4, pp. 3508-3513.
-  H. Fujiwara, H. Ookubo, and E. Nakano, “A study of wheeled mobile robot with a compliant mechanism for climbing up a step,” 1997 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, June 16-20, 1997, Proceedings, p. 117.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 2005 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.