JRM Vol.34 No.3 pp. 551-558
doi: 10.20965/jrm.2022.p0551

Development Report:

Development of Multi-Articulated Tracked Vehicle with a Sensorless Salvaging Bucket for Decommissioning

Junji Hirasawa, Shun Isobe, Yusuke Kuramochi, Mitsuhiro Nishino, and Yoshihisa Nihei

National Institute of Technology, Ibaraki College
866 Nakane, Hitachinaka-shi, Ibaraki 312-0011, Japan

December 3, 2021
February 21, 2022
June 20, 2022
tracked vehicle, moving robot, teleoperate, sensorless mechanism, robot contest

In this paper, we describe a prototypical crawler vehicle developed for “Hairo Sozo Robocon,” i.e., the 4th creative robot contest for decommissioning conducted in 2019. The rules of this robot contest required a high turning ability on a flat floor and high mobility through the inner space of a pipe. In addition, the robot needed to salvage objects from a floor placed 3.2 meters underneath itself. We developed a multi-articulated tracked vehicle to provide high mobility in both contexts. The vehicle was equipped with a sensorless salvaging bucket inspired by a traditional sampler sounding weight.

Outline of developed test vehicle “Debris Hunter I”

Outline of developed test vehicle “Debris Hunter I”

Cite this article as:
J. Hirasawa, S. Isobe, Y. Kuramochi, M. Nishino, and Y. Nihei, “Development of Multi-Articulated Tracked Vehicle with a Sensorless Salvaging Bucket for Decommissioning,” J. Robot. Mechatron., Vol.34 No.3, pp. 551-558, 2022.
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Last updated on Sep. 29, 2023