Shape changing locomotion by spiny multipedal robot

Hiroki Nozaki, Ryuma Niiyama, Takuro Yonezawa, Jin Nakazawa

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

1 Citation (Scopus)


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 languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781538637418
Publication statusPublished - 2018 Mar 23
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8


Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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