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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hirose, S. Morishima, A. Tukagosi, S. Tsumaki, T. Monobe, H. |
| Copyright Year | 1991 |
| Description | Author affiliation: Tokyo Inst. of Technol., Japan (Hirose, S.; Morishima, A.; Tukagosi, S.) |
| Abstract | The characteristics and the applications of the articulated body mobile robot, 'Koryu (KR)', a mobile robot with a new style of articulated body is identified, and the construction of the newly developed 'Koryu-II (KR-II)' is discussed. KR-II takes the form of seven linked articulations and its total length is 3.3 m, and its total weight is 350 kg. KR-II introduces new mechanisms and control systems such as: easily detachable unified segments; self-contained driving system with wireless control; traction wheels attached on one side of the segment; long stroke vertical prismatic joint to cope with a steep inclination; robot hand driven by the coordination control of the body articulation; force sensor based on photodetective technology; and an analog bus system to simplify the electrical installation. Finally, the paper describes KR-II's fundamental results of experimental trials, to show the validity of it as a robot to move and operate in an unstructured environment.< |
| Starting Page | 833 |
| Ending Page | 838 |
| File Size | 561319 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780300785 |
| DOI | 10.1109/ICAR.1991.240571 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1991-06-19 |
| Publisher Place | Italy |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Vehicles Mobile robots Robot kinematics Control systems Force control Wheels Robot sensing systems Construction industry Machinery Wireless sensor networks |
| Content Type | Text |
| Resource Type | Article |
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