Study on a mechanism and control of a wheelchair constituting of wheels that are effective in climbing stairs and rolling without slippery
| Project/Area Number |
21560259
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Niigata University |
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Principal Investigator |
OKADA Tokuji 新潟大学, 自然科学系, 教授 (60194362)
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| Co-Investigator(Renkei-kenkyūsha) |
SHIMIZU Toshimi 新潟大学, 自然科学系, 助教 (70377183)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2011: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2009: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Keywords | 車いす / 段差 / 特殊車輪 / バリアフリー / 足 / スキッドステア車 / 車輪速度差制御 / メカトロニクス / 車輪滑り |
|---|
| Research Abstract |
For the purpose of improving mobility and performance of four-wheeled skid-steering mobile robots(4 WSSMRs) on rough terrain, we studied a wheel mechanism installing six ankle joints at circumferential positions of a wheel for landing by the toe of each foot one by one. Traverse-ability to evaluate a performance of stepping up/over obstacles concerned with including its reverse motion has been introduced.
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Report
(4 results)
Research Products
(75 results)
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[Presentation] 足付き車輪の提案2009
Author(s)
岡田徳次、阿部康治
Organizer
第27回日本ロボット学会学術講演会
Place of Presentation
横浜国大
Year and Date
2009-09-15
Related Report
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[Presentation] 足付き車輪の提案2009
Author(s)
岡田徳次、阿部康治
Organizer
第27回日本ロボット学会学術講演会
Place of Presentation
横浜国立大学
Year and Date
2009-09-15
Related Report
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