Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method
Basic Performance of Planar Omnidirectional Crawler during Direction Switching using Disturbance Degree of Ground Evaluation Method
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DOI：
10.1109/iros40897.2019.8968507
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发表时间：
2019-11
期刊：
影响因子：
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通讯作者：
Eri Takane;K. Tadakuma;Tori Shimizu;Sosuke Hayashi;M. Watanabe;S. Kagami;K. Nagatani;M. Konyo;S. Tadokoro
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文献类型：
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作者：
Eri Takane;K. Tadakuma;Tori Shimizu;Sosuke Hayashi;M. Watanabe;S. Kagami;K. Nagatani;M. Konyo;S. Tadokoro
引入地面扰动程度，提出了衡量履带式软土地基上方向切换时移动性能的评价方法。首先，我们开发了一种平面全向爬行器，其配置为具有左右两个单元履带，用于执行转弯运动，作为评估目标。其次，利用所提出的地面扰动程度评价方法，通过测量水平表面上的沙流，研究了履带机构的转动和平移运动如何影响软土地基。定量表明，与转弯运动相比，平移运动可以以更小的对路面的干扰来切换行进方向。我们确认可以使用所提出的方法在方向切换期间评估地面扰动。
We introduced the disturbance degree of ground and proposed an evaluation method to measure the mobile performance of a crawler on soft ground during direction switching. First, we developed a planar omnidirectional crawler, which had a configuration with two left and right unit crawlers for performing turning motion, as the target for evaluation. Second, by utilizing the proposed disturbance degree of ground evaluation method, we investigated how the turning and translational motions of the crawler mechanism affected soft ground by measuring the flow of sand on a horizontal surface. It was quantitatively shown that translational motion switched the travel direction with lesser disturbance to the road surface compared to turning motion. We confirmed that ground disturbance could be evaluated during direction switching using the proposed method.