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)

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 languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2162-2166
Number of pages5
Volume2018-January
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 2018 Mar 23
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period17/12/517/12/8

Fingerprint

Locomotion
Actuator
Actuators
Robot
Robots
Linear actuators
Spine
Animals
Robotics
Stroke
Surveillance
Triangle
Arrangement
Verify
Module
Output
Alternatives
Range of data
Demonstrate

ASJC Scopus subject areas

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

Cite this

Nozaki, H., Niiyama, R., Yonezawa, T., & Nakazawa, J. (2018). Shape changing locomotion by spiny multipedal robot. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (Vol. 2018-January, pp. 2162-2166). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324739

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 proceedingConference contribution

Nozaki, H, Niiyama, R, Yonezawa, T & Nakazawa, J 2018, Shape changing locomotion by spiny multipedal robot. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 2162-2166, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 17/12/5. https://doi.org/10.1109/ROBIO.2017.8324739
Nozaki H, Niiyama R, Yonezawa T, Nakazawa J. Shape changing locomotion by spiny multipedal robot. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2162-2166 https://doi.org/10.1109/ROBIO.2017.8324739
Nozaki, Hiroki ; Niiyama, Ryuma ; Yonezawa, Takuro ; Nakazawa, Jin. / Shape changing locomotion by spiny multipedal robot. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Vol. 2018-January Institute of Electrical and Electronics Engineers Inc., 2018. pp. 2162-2166
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