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.

    Original 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

    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

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  • Cite this

    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 (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