Basic running test of the cylindrical

tracked vehicle with sideways mobility

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Citation Tadakuma, K. et al. “Basic running test of the cylindrical tracked

vehicle with sideways mobility.” Intelligent Robots and Systems,
2009. IROS 2009. IEEE/RSJ International Conference on. 2009.
1679-1684. © Copyright 2009 IEEE

As Published http://dx.doi.org/10.1109/IROS.2009.5354064

Publisher Institute of Electrical and Electronics Engineers

Version Final published version

Citable link http://hdl.handle.net/1721.1/60873

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The 2009 IEEE/RSJ International Conference on
Intelligent Robots and Systems
October 11-15, 2009 St. Louis, USA

Basic Running Test of the Cylindrical Tracked Vehicle

with Sideways Mobility

Kenjiro Tadakuma1, Riichiro Tadakuma2, Keiji Nagatani3,

Kazuya Yoshida3, Aigo Ming1, Makoto Shimojo1, Karl Iagnemma4

Abstract— II. Tracked Vehicle with Circular Cross-Section

In this paper, the basic running performance of the The overview of the proposed crawler with a circular
cylindrical tracked vehicle with sideways mobility is cross-section is shown in Fig.1. The crawler module has an
presented. The crawler mechanism is of circular active rotational axis; which allows it to realize the required
cross-section and has active rolling axes at the center of the sideways motion.
circles. Conventional crawler mechanisms can support Additionally, this configuration has another distinctive
massive loads, but cannot produce sideways motion. feature, shown in Fig. 2.
Additionally, previous crawler edges sink undesirably on soft
ground, particularly when the vehicle body is subject to a Electronic
sideways tilt. The proposed design solves these drawbacks by Controll Board
Motor
adopting a circular cross-section crawler. A prototype. Basic for Rolling Motion
motion experiments with confirm the novel properties of this Battery

mechanism: sideways motion and robustness against Timing Pully

edge-sink. Timing Belt

Keywords: Tracked Vehicle, Sideways Motion, Circular

Cross-Section, Crawler, Pipe Inspection

I. Introduction
Conventional crawlers cannot move sideways. Therefore
Rolling Axes Crawler Unit
they usually (i) lack enough maneuverability to move in (Active Rotation)
narrow spaces such as in Fig. 1(a). For example, it is not so
easy to set the position of the crawler vehicle to trajectory Normal Crawling Motion
number 5 in Fig. 1(a). In addition, when a conventional Fig. 1: Overview of the Cylindrical Tracked Vehicle
crawler tilts sideways on soft ground, (ii) the edge of the
Basic Motion Direction of the Vehicle
crawler unit might sink undesirably as shown in Fig. 1(b). In

Radius of Circular Section of Fields

Body of the Vehicle
this paper we present a mechanism that solves these two
issues. A crawler mechanism that realizes sideling motion is Small
presented and the application of a pipe inspection robot is (Positive)
examined.
In order to realize holonomic omni-directional motion,
there exist many commercial wheels which are based on
small passive rotational wheels[1]-[8]. Some of them are
similar to a crawler-like mechanism. A particularly
accomplished example of this is the VUTON[9] developed by Large (Negative)
Hirose, or the vehicle developed by M. West et al.[10] and the Crawler Unit
with Circular Section
mechanism developed by Chen et al[11]. However, these
crawler-like mechanisms have many numbers of small Fig. 2 Fitting by design to various pipe sizes (Front View
passive rotational rollers, and are not generally capable of
overcoming steps or ground discontinuities typical in
environments such as houses, offices or hospitals (e.g. the When a conventional crawler moves inside a pipe (or on its
gap at an elevator opening). This limitation stems from the outer surface), the edge of the crawler belt contacts the
fact that the diameter of the passive wheel is much smaller surface with a small area: an edge line. Or conventional one
than the diameter of the whole wheel. should change their inclining angle in roll axis adopting to the
surface of the pipe [18]. On the other hand, when the
proposed crawler with a circular cross-section moves on the
University of Electro-Communications1, University of inside (or outside) of a pipe, the contact area is significantly
Tokyo2, Tohoku University3, Massachusetts Institute of increased due to the shape and elasticity of the circular
Technology4,[email protected], 1-5-1 Chofugaoka,
Chofu-shi, Tokyo, 182-8585 JAPAN

978-1-4244-3804-4/09/$25.00 ©2009 IEEE 1679

crawler belt. In addition, the circular cross-section reduces
the problem of the crawler unit sinking into the pipe surface.
Robots mounted with the proposed mechanism move in a
direction perpendicular to the passive wheel axis, as shown in
Fig. 2. The maximum step which the mobile robots can
overcome is significantly small relative to the size of the
whole wheel because of the small diameter of the passive
wheels.

III. Experiments of Basic Running

In this section, we describe a set of experiments conducted to
confirm the performance of a prototype of this crawler
vehicle with the omni-crawler drive mechanism.

A. Step ClimbingMotion

A-1 Forward-Backward Direction

As one of the basic mobility criteria of this robot, the ability
to produce step-climbing motion should be confirmed. One
example of such a motion is shown in Fig.6. The height of the Fig.5: Gap-Traversing Motion (Forward-Backward)
step is 36mm. When the crawler vehicle needs much higher
ability to climb steps, the configuration can be set the joint
mechanism like connected crawler vehicle “Soryu[15]” by B. Gap Traversing
removing the front supporter. The ability of the vehicle to gap traversing was also
confirmed as shown in Fig.8. The distance of the gap is
1 Vehicle 2 Motion Direction 205mm. It was observed that a prototype with the
Marker
Omni-Track mechanism can traverse the gaps only
Step
longitudinally, but also laterally as shown in Fig.8 and Fig.9
respectively. In Fig. 9, the length of the gap is 77.5mm.

3 4

Fig.3: Step-Climbing Motion (Forward-Backward)

A-2 Sideways
1 2 3

4 5 6
Fig.6: Gap-Traversing Motion (Sideways)

In order to compare the ability of the step climbing and that of

gap traversing in sideways, it is set the diameter of the roller
Fig.4: Step-Climbing Motion (Sideways) of the previous tracked mechanism is half size of that of the
Omni-Tracked mechanism as shown in Fig. 7. By defined
The height of the step is 33.5mm in Fig.4. It was observed like this, the ability to climb the step and gap is as shown in
that a prototype with the Omni-Crawler mechanism can climb Fig. 8. As shown in this graph, each ability of the
step not only longitudinally, but also laterally. Omni-Tracked mechanism is higher than that of the previous
model defined here.

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 rp
oc oc
rp /2

r p /3
(a) Previous Mechanism (b) Omni-Crawler
Rp : Radius of Pipes
(c) Previous Mechanism
(Step Climbing) Rp : Radius of Pipes
(Gap Traversing)
(a) Outer Surface of Pipes (b) Inner Surface of Pipes
Fig.7: Comparison of the Diameter of Roller with
Fig.9: Geometric Conditions
Diameter of Omni-Crawler (Front View)
Please see the video attached this paper.
In addition, the stability of the cylindrical tracked vehicle is
considered with the comparison with that of previous crawler
as shown in Fig. 10.
As a result, the cylindrical tracked vehicle has higher
stability than normal tracked vehicle.

(c-2) Moving on the surface of the pipes

The ability to move on the outside surface of the pipes was
confirmed. The vehicle can keep moving even if the diameter
of the pipe-like field changed as shown in Fig. 11. The
diameter of the small pipe is 155mm, while that of the large
pipe is 513mm. They meet the values based on the equations
shown in the previous section.

Pipe

(a) Moving on Small Pipe

Fig.8: Comparison of Capability with Previous

Crawler with Omnidirectional Mobility

(b) Moving on Large Pipe

C. Moving on Pipe Fig.10: Moving on the Surface of the Pipes
(c-1) Geometric Conditions
The vehicle’s mobility on the outside edge of a pipe was also (c-3) Moving on the surface inside the pipes
confirmed. It was observed that the prototype with the The ability to move on the surface inside the pipes was also
Omni-Crawler mechanism can traverse along small and large confirmed. The vehicle can keep moving even if the diameter
pipes without any adjustments as show in Fig.17. Similarly, of the pipe like field changed. For example from pipe like
motion along the inside of a pipe was also observed, and it field to the totally flat area, the diameter is shift from the one
was confirmed the vehicle could maintain smooth motion to the infinity, the prototype model can move through that
without requiring any kind of adjustment. See Fig.18. The connection point as shown in Fig. 11. The diameter of the
diameter of the outer pipe is 513mm and inner diameter of the small pipe is 349mm, while that of the large pipe is 490mm.
pipe is 490mm. They meet the values based on the equations shown in the
previous section. Even if there is an obstacle inside the pipe,
W/2 - roc < Rp<∞ (1) this tracked vehicle can avoid that by making use of the
roc +W/2 < Rp<∞ (2) sideways motion within the stable range.

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 Ruler

Pipe

(a) Moving inside the Small Pipe

Magnified View
AAA Battery Track Ruts
for Size-Comparison

(a). Track Ruts on the Sand by the Omni-Crawler

(b) Moving inside the Large Pipe
Fig.11: Moving Inside of the Pipes

D. Moving on Soft Grounds

(D-1) Toyoura-Sand
The vehicle’s ability to move on soft ground was also
confirmed, as shown in Fig. 15. We used “Toyoura” sand as
the soft ground. The average diameter of this sand particle is
about 0.2mm, and the density of this sand is 2700kg/m3. It Track Ruts Magnified View

was observed that this prototype with the Omni-Crawler (b). Track Ruts on the Sand by the Normal Track
mechanism can move on soft ground smoothly with a low
level of sink. Please see the video attached this paper. Fig.14: Comparison of the Track Ruts on the Sand

1 2 3 The depth of the rut of the cylindrical track is the 8.5mm,

Vehicle
Soft Ground while that of the normal track is the 15.5. It was observed that
Motion Direction
the cylindrical tracked vehicle has better performance of the
Motion Direction prevention of the edge sinking on the inclining posture in soft
ground.
4 5 6
Depth of the Track Ruts [mm]

7 8 9
15.5

8.5

Fig.12: Moving on the Field with Toyoura-Sand

In order to see the effect of prevention of sinking on the

inclining posture as explained in Fig. 1, the running Fig.15: Comparison of the Depth of the Track Ruts
experiment on the sand with step is observed as shown in Fig.
13. One of the tracked unit is on the step and the height of the
step is 115mm. The rut of the cylindrical track is shown in
Fig. 14(a). On the other hand, the rut of the normal track is
shown in Fig. 14(b). The height and the width of the normal
tracked vehicle were set the same size of the diameter of the
cylindrical tracked vehicle. The weight of each tracked
vehicle was set the same.

Fig.16: Infiltration of Sand into the Conventional Tracked

Fig.13: Moving with Inclining Posture Belt

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 In addition, as shown in Fig. 16, when the tracked vehicle The wheel-track-leg hybrid mobile robot is shown in Fig. 17.
with conventional crawler belt was rotating on the spot, it This robot changes its mobile mode depends on the fields to
happened that the sand infiltrated into side of the crawler belt. realize the effective and efficient movement.
Comparing this conventional crawler belt, the belt of the
Omni-Crawler protects the infiltration of sand from the side 4-2. Pipe Inspection Robot in Vertical Pipes
when the vehicle is rotating of the spot. This is another The robot to inspect the inner or outer pipe which set vertical
advantages of the proposed crawler mechanism with circular is shown in Fig. 18. It can grasp the pipes by using 3-crawler
cross-section. units and climb the pipes.

(D-2) Moving on Snow

The vehicle’s ability to move on another soft ground was also
confirmed. We have done outdoor running test of this vehicle
on the snow as shown in Fig. 16. The thickness of the snow
was about 35mm. It was observed that this prototype with the
Omni-Tracked mechanism can move on soft ground
smoothly not only in forward-backward direction, but also
sideways, turn on the spot with a low level of a sink. Please
see the video attached this paper. The water proofing is still Fig.18: Concept of 3 units for pipe inspection with
one of the problems for the mechanism but we can see from Omni-Track Mechanism
even if the vehicle gets stuck, it can recover by using the
sideways motion from the hole on the soft ground.
Pole 1 2 3
4-3. Snake like Robot
Vehicle

Motion Direction
As shown in Fig. 19, by connecting plural numbers of the
omni-crawler units, the snake-like robot(e.g. [19]) with the
Motion Direction

sideways mobility can be realized. This configuration is

effective to move sideways in narrow spaces.
4 5 6

Active Rolling Axes

Fig.16: Basic Running Test on Snow Crawler Unit

with Circular Section
Normal Motion of the Track

Fig.19: Concept of 3 units for pipe inspection with

IV. Another Applications Omni-Track Mechanism

In this section, another applications of the cylindrical

tracked unit are shown.
4-1. Wheel–Tracked Legged Mobile Robot
V. Conclusion
In this paper, we showed the basic running experiments of
Body Cylindrical Tracked Vehicle with Sideways Mobility. The
step climbing motion in forward-backward direction and
also sideways are shown and compared with the previous
tracked mechanism with conventional crawler belt. The
motion test on the softground and snow were also conducted
with the omni-tracked vehicle.
In future works, we plan to optimize the configuration of
the body of the tracked vehicle including the suspension
Working as a Wheel Working as a Track
mechanism.

Fig.17: Concept of Wheel–Tracked Legged Mobile Robot

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