Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

Takashi Matsuzawa, Takanobu Matsubara, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Koki Yamaguchi, Keisuke Namura, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.

LanguageEnglish
Title of host publicationCISM International Centre for Mechanical Sciences, Courses and Lectures
PublisherSpringer International Publishing
Pages280-287
Number of pages8
DOIs
Publication statusPublished - 2019 Jan 1

Publication series

NameCISM International Centre for Mechanical Sciences, Courses and Lectures
Volume584
ISSN (Print)0254-1971
ISSN (Electronic)2309-3706

Fingerprint

Spike
Robot
Robots
Electric grounding
Legged Robots
Landing
Motion
Inclined
Rough
Irregular
Contact
Experimental Results
Movement

Keywords

  • Crawling
  • Legged robots
  • Mechanism design
  • Slippage reduction
  • Uneven terrain

ASJC Scopus subject areas

  • Mechanical Engineering
  • Mechanics of Materials
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Matsuzawa, T., Matsubara, T., Hashimoto, K., Teramachi, T., Sun, X., Kimura, S., ... Takanishi, A. (2019). Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 280-287). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_36

Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. / Matsuzawa, Takashi; Matsubara, Takanobu; Hashimoto, Kenji; Teramachi, Tomotaka; Sun, Xiao; Kimura, Shunsuke; Sakai, Nobuaki; Yoshida, Yuki; Imai, Asaki; Kumagai, Kengo; Yamaguchi, Koki; Namura, Keisuke; Takanishi, Atsuo.

CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. p. 280-287 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584).

Research output: Chapter in Book/Report/Conference proceedingChapter

Matsuzawa, T, Matsubara, T, Hashimoto, K, Teramachi, T, Sun, X, Kimura, S, Sakai, N, Yoshida, Y, Imai, A, Kumagai, K, Yamaguchi, K, Namura, K & Takanishi, A 2019, Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 584, Springer International Publishing, pp. 280-287. https://doi.org/10.1007/978-3-319-78963-7_36
Matsuzawa T, Matsubara T, Hashimoto K, Teramachi T, Sun X, Kimura S et al. Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2019. p. 280-287. (CISM International Centre for Mechanical Sciences, Courses and Lectures). https://doi.org/10.1007/978-3-319-78963-7_36
Matsuzawa, Takashi ; Matsubara, Takanobu ; Hashimoto, Kenji ; Teramachi, Tomotaka ; Sun, Xiao ; Kimura, Shunsuke ; Sakai, Nobuaki ; Yoshida, Yuki ; Imai, Asaki ; Kumagai, Kengo ; Yamaguchi, Koki ; Namura, Keisuke ; Takanishi, Atsuo. / Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. pp. 280-287 (CISM International Centre for Mechanical Sciences, Courses and Lectures).
@inbook{0b20edffd0674c258cfd57204101ab63,
title = "Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain",
abstract = "In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.",
keywords = "Crawling, Legged robots, Mechanism design, Slippage reduction, Uneven terrain",
author = "Takashi Matsuzawa and Takanobu Matsubara and Kenji Hashimoto and Tomotaka Teramachi and Xiao Sun and Shunsuke Kimura and Nobuaki Sakai and Yuki Yoshida and Asaki Imai and Kengo Kumagai and Koki Yamaguchi and Keisuke Namura and Atsuo Takanishi",
year = "2019",
month = "1",
day = "1",
doi = "10.1007/978-3-319-78963-7_36",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "280--287",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

}

TY - CHAP

T1 - Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

AU - Matsuzawa, Takashi

AU - Matsubara, Takanobu

AU - Hashimoto, Kenji

AU - Teramachi, Tomotaka

AU - Sun, Xiao

AU - Kimura, Shunsuke

AU - Sakai, Nobuaki

AU - Yoshida, Yuki

AU - Imai, Asaki

AU - Kumagai, Kengo

AU - Yamaguchi, Koki

AU - Namura, Keisuke

AU - Takanishi, Atsuo

PY - 2019/1/1

Y1 - 2019/1/1

N2 - In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.

AB - In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.

KW - Crawling

KW - Legged robots

KW - Mechanism design

KW - Slippage reduction

KW - Uneven terrain

UR - http://www.scopus.com/inward/record.url?scp=85051521126&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85051521126&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-78963-7_36

DO - 10.1007/978-3-319-78963-7_36

M3 - Chapter

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 280

EP - 287

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer International Publishing

ER -