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JRM Vol.20 No.1 pp. 106-115
doi: 10.20965/jrm.2008.p0106
(2008)

Paper:

Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot

Kenjiro Tadakuma

Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Ave., Cambridge, MA 02139 USA

Received:
June 15, 2007
Accepted:
November 2, 2007
Published:
February 20, 2008
Keywords:
search and rescue robot, connected crawler, double joint mechanism, multiple configurations
Abstract

This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the configurations of obstacles in the field, including such complicated structures like debris after disasters. To assess the performance of this joint mechanism, an actual prototype model was developed and the basic performances of this vehicle were confirmed through mobile experiments.

Cite this article as:
Kenjiro Tadakuma, “Connected Two Units Crawlers to Realize Automatic Multiple Configurations as Search and Rescue Robot,” J. Robot. Mechatron., Vol.20, No.1, pp. 106-115, 2008.
Data files:
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