Shape changing locomotion by spiny multipedal robot

Hiroki Nozaki, Ryuma Niiyama, Takuro Yonezawa, Jin Nakazawa

研究成果: Conference contribution

1 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2162-2166
ページ数5
2018-January
ISBN(電子版)9781538637418
DOI
出版物ステータスPublished - 2018 3 23
イベント2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
継続期間: 2017 12 52017 12 8

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
China
Macau
期間17/12/517/12/8

    フィンガープリント

ASJC Scopus subject areas

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

これを引用

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