Development of Multi-Articulated Tracked Vehicle with a Sensorless Salvaging Bucket for Decommissioning

In this paper, we describe a prototypical crawler vehicle developed for “Hairo Sozo Robocon,” i.e., the 4th creative robot contest for decommissioning conducted in 2019. The rules of this robot contest required a high turning ability on a flat floor and high mobility through the inner space of a pip...

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Bibliographic Details
Published in:Journal of robotics and mechatronics 2022-06, Vol.34 (3), p.551-558
Main Authors: Hirasawa, Junji, Isobe, Shun, Kuramochi, Yusuke, Nishino, Mitsuhiro, Nihei, Yoshihisa
Format: Article
Language:English
Subjects:
Decommissioning
Laboratories
Nuclear power plants
Robotics
Robots
Tracked vehicles
Vehicles
Velocity
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Summary:In this paper, we describe a prototypical crawler vehicle developed for “Hairo Sozo Robocon,” i.e., the 4th creative robot contest for decommissioning conducted in 2019. The rules of this robot contest required a high turning ability on a flat floor and high mobility through the inner space of a pipe. In addition, the robot needed to salvage objects from a floor placed 3.2 meters underneath itself. We developed a multi-articulated tracked vehicle to provide high mobility in both contexts. The vehicle was equipped with a sensorless salvaging bucket inspired by a traditional sampler sounding weight.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2022.p0551