Limb-mechanism robot with winch mechanism

被引：1

作者：

Fujiki, N ^{[1
]}

Mae, Y ^{[1
]}

Umetani, T ^{[1
]}

Arai, T ^{[1
]}

Takubo, T ^{[1
]}

Inoue, K ^{[1
]}

机构：

[1] Osaka Univ, Grad Sch Engn Sci, Dept Syst Innovat, Toyonaka, Osaka 5608531, Japan

来源：

CLIMBING AND WALKING ROBOTS | 2005年

关键词：

D O I：

10.1007/3-540-29461-9_28

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

The present paper describes a legged robot equipped with an omni-directional winch mechanism to climb up and down steep inclines. A small and omnidirectional winch mechanism is developed for robots moving in rubble environments. The wire of the winch mechanism can pull a robot on steep inclines. The developed winch mechanism has a guide which can reel up and release a wire in all directions. A legged robot with the developed winch mechanism can move in all directions on steep inclines without changing the direction of the robot. In addition, we propose an idea of using one limb of the robot as a guide for the wire. The method improves flexibility of the robot moving on steep inclines. We show feasibility of our proposed idea through the experiments.

引用

页码：305 / 312

页数：8

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