Continuous Shape Changing Locomotion of 32-legged Spherical Robot

Hiroki Nozaki, Yusei Kujirai, Ryuma Niiyama, Yoshihiro Kawahara, Takuro Yonezawa, Jin Nakazawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Shape changing robot is an approach towards locomotion on uncertain terrain due to its omni-directional features. However, the current locomotion method for such robots rely on discontinuous rolling. We propose a free form locomotion: an omni directional continuous crawling for deformable robots. This method introduce continuous shifting of contact surface similar to amoeba movement. A Mochibot that has thirty two telescopic legs is developed to verify the proposed locomotion method. Through the experiments, we have confirmed that the robot can track smooth paths: straight, smooth, and hand written curves. We also evaluate errors between desired and measured trajectories of the robot.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2721-2726
Number of pages6
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 2018 Dec 27
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period18/10/118/10/5

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Nozaki, H., Kujirai, Y., Niiyama, R., Kawahara, Y., Yonezawa, T., & Nakazawa, J. (2018). Continuous Shape Changing Locomotion of 32-legged Spherical Robot. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 2721-2726). [8593791] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593791