NDLI: Snake-like active wheel robot ACM-R4.1 with joint torque sensor and limiter

Content Provider	IEEE Xplore Digital Library
Author	Takaoka, S. Yamada, H. Hirose, S.
Copyright Year	2011
Description	Author affiliation: Tokyo Institute of Technology, 2-12-1 Ohokayama, Meguro-ku, 152-8550, Japan (Takaoka, S.; Yamada, H.; Hirose, S.)
Abstract	In order to inspect inside narrow and unstructured environments, the snake-like robots should have ruggedness of the structure and at the same time function to detect the contact of the body to the environments. This paper proposes a snake-like active wheel robot named “ACM-R4.1” with torque sensor and torque limiter on each of the joints. Introduced torque sensor is composed of 2 thin ring plates holding steel balls in the oval cavities in between and a rubber ring producing compressing force of the thin ring plates in the narrow gap of a joint. Applied torque of the joint produces small sliding motion of the ball inside oval cavities and thus measurement of the small displacement of these plates enable to detect the applied torque. Overload-protection to the joint actuator is made by the sliding motion of the rubber which acts after the ball motion in the cavities and they hit the end of cavities. We made theoretical consideration of design of the torque sensor and did torque measurement experiments by using constructed snake-like active wheel robot ACM-R4.1. We also demonstrated the terrain adaptive motion of ACM-R4.1 by using the torque sensors.
Starting Page	1081
Ending Page	1086
File Size	1362109
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094475
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Torque Joints Robot sensing systems Structural rings Torque measurement Cavity resonators
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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