険しい地形も「CLAWbot」には敵わない(Rugged Terrain No Match For ‘CLAWbot’)

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2024-11-11 テキサス A&M大学

テキサスA&M大学のAdaptive Robotics and Technology Labは、Cycloidal-Augmented Wheel(CLAW)を開発しました。この機構は、平坦な地形では滑らかな車輪移動を維持し、障害物に直面すると爪のような部品が伸縮して登攀を可能にします。CLAWは既存の車輪型ロボットやクローラーロボットに後付けでき、農業、捜索救助、災害対応、軍事作戦など多様な分野での応用が期待されています。CLAWを搭載したCLAWbotは、複数の地形での移動と障害物や階段の登攀に成功しました。この設計はIEEE/ASME Transactions on Mechatronicsに掲載され、仮特許も取得済みです。

<関連情報>

CLAW:移動ロボットの階段や障害物を登るためのサイクロイド脚補強車輪 CLAW: Cycloidal Legs-Augmented Wheels for Stair and Obstacle Climbing in Mobile Robots

Yuan Wei; Kiju Lee
IEEE/ASME Transactions on Mechatronics  Published:22 August 2024
DOI:https://doi.org/10.1109/TMECH.2024.3435767

険しい地形も「CLAWbot」には敵わない(Rugged Terrain No Match For ‘CLAWbot’)

Abstract:

In this article, we introduce a cycloidal legs-augmented wheel (CLAW), a novel wheel-leg mechanism for stair and obstacle climbing. CLAW integrates three leg segments with a wheel using a specialized passive bar mechanism inspired by a cycloidal rotor design. These legs extend outward to reach heights from the front and retract back within the wheel boundary as they approach the ground. This unique mechanism enables the legs to generate cycloidal trajectories as the wheel rotates without additional actuators, thereby preserving the operation and control simplicity of conventional wheeled robots while significantly improving climbing abilities. Experimental tests with CLAWbot, a fixed-axis four-wheeled robot equipped with the CLAW mechanisms, demonstrated obstacle climbing up to 2.6 times the wheel radius and reliable traversing of different staircases, obstacles, and diverse terrains, such as a concrete floor, grass, a ramp, and rocky surfaces. It also exhibited smooth trajectories during turns and climbing.

 

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