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JRM Vol.17 No.2 pp. 198-207
doi: 10.20965/jrm.2005.p0198
(2005)

Paper:

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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

Received:
October 21, 2004
Accepted:
January 6, 2005
Published:
April 20, 2005
Creative Commons License
Keywords:
Omni-Disc, omnidirectional mobile robot, VmaxCarrier, Bent Pneumatic Actuator, step-climbing
Abstract
“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 [1]” 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.
Cite this article as:
K. Tadakuma, R. Tadakuma, and S. Hirose, “Mechanical Design of VmaxCarrier2: Omnidirectional Mobile Robot with Function of Step-Climbing,” J. Robot. Mechatron., Vol.17 No.2, pp. 198-207, 2005.
Data files:
References
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