Buoyancy-Generating Snow Field Movement Mechanism Experimented on Pseudo-Snow Environment
Buoyancy-Generating Snow Field Movement Mechanism Experimented on Pseudo-Snow Environment
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DOI：
10.1109/icmcr56776.2023.10181029
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发表时间：
2023-02
期刊：
影响因子：
--
通讯作者：
Haruka Fujiuchi;S. Mikami
中科院分区：
文献类型：
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作者：
Haruka Fujiuchi;S. Mikami
目前，围绕机器人移动性的发展是非常多样化的。在灾区等人类行走困难的地方，特别是不平坦的地方，从不同的角度进行了多种研究。以前的研究包括水下运动和难以获得稳定姿势的地方，如在石质、沙质和柔软的地面上。另一方面，对雪害场地等雪环境的研究相对较少。本研究旨在开发一种能够在雪地上稳定移动的移动机器人机制，有利于在雪损现场进行调查和提供救援物品。本研究通过设计在雪地上获得浮力和牵引力的专用车轮来研究其机理。此外，我们提出了一个类似雪的物理特性的伪雪场，允许雪地移动机器人在温暖的环境中进行实验。
Currently, developments around robot mobility are very diverse. In disaster areas and other places where it is difficult for humans to walk, especially in places that are not flat, there are many kinds of research from various perspectives. Examples of previous studies include underwater movement and locations where it is difficult to obtain a stable posture, such as on the stony, sandy, and soft ground. On the other hand, relatively few studies on snow environments, such as snow damage sites, exist. This study aims to develop a mechanism for a mobile robot that can move stably on snow, which benefits investigation and supply rescue items at snow damage sites. This study investigates the mechanism by designing specialized wheels that gain buoyancy and traction force on snow. Also, we propose a pseudo-snow field that resembles the physical characteristics of snow, allowing snow-field mobile robots to experiment in warm environments.