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Development of a Quadruped Tracked Mobile Robot

[+] Author Affiliations
Toyomi Fujita, Yuichi Tsuchiya

Tohoku Institute of Technology, Sendai, Japan

Paper No. DETC2015-47982, pp. V009T07A079; 8 pages
  • ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 9: 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications
  • Boston, Massachusetts, USA, August 2–5, 2015
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5719-9
  • Copyright © 2015 by ASME


We have developed a tracked mobile robot which is equipped with four legs at its body. This robot is able to not only move on rough terrain robustly, but also perform handing tasks such as carrying an object and removing small obstacles in its movement by using the legs as manipulation arms. This paper describes mechanisms and characteristics of the robot. Several experimental results showed the validity on basic movements by legs and tracks and handling tasks of this robot.

Copyright © 2015 by ASME
Topics: Mobile robots



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