A 2-D tread mechanism for hybridization in USAR robotics | IEEE Conference Publication | IEEE Xplore

A 2-D tread mechanism for hybridization in USAR robotics


Abstract:

Hybridization of robots has led to great leaps in capability, often with minimal additional complexity, and refers to a synergistic combination of different actuation mod...Show More

Abstract:

Hybridization of robots has led to great leaps in capability, often with minimal additional complexity, and refers to a synergistic combination of different actuation modes within a single platform. Doing so extends the capabilities and task space of a robot by pooling together the strengths of the individual modes and results in a single platform that is greater than the sum of its parts. In this paper we present a novel 2-D tread mechanism capable of exerting motive forces in two orthogonal directions. Early exploration into hybridization of this mechanism includes a holonomic differential drive configuration as well as a holonomic tread/limb/serpentine hybrid robot. Some preliminary results of the tread mechanism performance are presented as well.
Date of Conference: 18-20 October 2015
Date Added to IEEE Xplore: 31 March 2016
ISBN Information:
Conference Location: West Lafayette, IN, USA

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