Abstract
The use of geometric is an alternative framework for robotic locomotion instead of animal-inspired structures. We propose a spiny, multi-pedal robot that uses radial linear actuators as the legs. We developed a unique telescopic slide actuator that has a stroke up to 250% of its minimum length. The default form of the robot is a sphere with variable diameters. The radial arrangement of the telescopic slide actuators allows a large range of shape transformation and processes for rolling. We first show the basic properties of the actuator to verify the ability to elevate and propel the body. The single module of the actuator has a weight of 0.4 kg and can output a force of 25 N maximum. We demonstrate that the robot with twelve spines can change its shape to adapt to a level ground, wall, and rocky surfaces. We also show that the robot can roll on level ground with triangle-based strides. We expect further applications in surveillance and unmanned exploration.
| Original language | English |
|---|---|
| Title of host publication | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2162-2166 |
| Number of pages | 5 |
| Volume | 2018-January |
| ISBN (Electronic) | 9781538637418 |
| DOIs | |
| Publication status | Published - 2018 Mar 23 |
| Event | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 2017 Dec 5 → 2017 Dec 8 |
Other
| Other | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
|---|---|
| Country | China |
| City | Macau |
| Period | 17/12/5 → 17/12/8 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Mechanical Engineering
- Control and Optimization
- Modelling and Simulation
Cite this
Shape changing locomotion by spiny multipedal robot. / Nozaki, Hiroki; Niiyama, Ryuma; Yonezawa, Takuro; Nakazawa, Jin.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. p. 2162-2166.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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TY - GEN
T1 - Shape changing locomotion by spiny multipedal robot
AU - Nozaki, Hiroki
AU - Niiyama, Ryuma
AU - Yonezawa, Takuro
AU - Nakazawa, Jin
PY - 2018/3/23
Y1 - 2018/3/23
N2 - The use of geometric is an alternative framework for robotic locomotion instead of animal-inspired structures. We propose a spiny, multi-pedal robot that uses radial linear actuators as the legs. We developed a unique telescopic slide actuator that has a stroke up to 250% of its minimum length. The default form of the robot is a sphere with variable diameters. The radial arrangement of the telescopic slide actuators allows a large range of shape transformation and processes for rolling. We first show the basic properties of the actuator to verify the ability to elevate and propel the body. The single module of the actuator has a weight of 0.4 kg and can output a force of 25 N maximum. We demonstrate that the robot with twelve spines can change its shape to adapt to a level ground, wall, and rocky surfaces. We also show that the robot can roll on level ground with triangle-based strides. We expect further applications in surveillance and unmanned exploration.
AB - The use of geometric is an alternative framework for robotic locomotion instead of animal-inspired structures. We propose a spiny, multi-pedal robot that uses radial linear actuators as the legs. We developed a unique telescopic slide actuator that has a stroke up to 250% of its minimum length. The default form of the robot is a sphere with variable diameters. The radial arrangement of the telescopic slide actuators allows a large range of shape transformation and processes for rolling. We first show the basic properties of the actuator to verify the ability to elevate and propel the body. The single module of the actuator has a weight of 0.4 kg and can output a force of 25 N maximum. We demonstrate that the robot with twelve spines can change its shape to adapt to a level ground, wall, and rocky surfaces. We also show that the robot can roll on level ground with triangle-based strides. We expect further applications in surveillance and unmanned exploration.
UR - http://www.scopus.com/inward/record.url?scp=85050016219&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85050016219&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324739
DO - 10.1109/ROBIO.2017.8324739
M3 - Conference contribution
AN - SCOPUS:85050016219
VL - 2018-January
SP - 2162
EP - 2166
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
ER -