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

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

Received:
December 3, 2021
Accepted:
February 21, 2022
Published:
June 20, 2022
Keywords:
tracked vehicle, moving robot, teleoperate, sensorless mechanism, robot contest
Abstract
Outline of developed test vehicle “Debris Hunter I”

Outline of developed test vehicle “Debris Hunter I”

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.

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.
Data files:
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