Development of shape memory alloy driven small legged robot capable of walking on a flat ground and climbing a leaning tree

Keitaro Ishibashi, Atsuo Takanishi, Hiroyuki Ishii

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

Abstract

Our objective is to develop a small tree climbing robot for ecological surveys to protect endangered birds and mammals nesting in trees. By using this robot to climb trees on behalf of people, the risk of a crash incident and thus the risk of nesting abandonment can be reduced. In our study, we first developed a small six-legged robot, the driving force of which is shape memory alloy (SMA) actuators. Because the possibility of nesting abandonment is related to both the size of the approaching object and the volume of its sound, it can be reduced by using SMA actuators, which are very quiet. Because an SMA actuator and spring antagonistic driving mechanism are adopted, the robot can remain at a specific location in the tree without requiring an external energy supply. The size of the robot is L48 x W81 x H78 [mm] and its weight is 4.9 [g]. The robot can walk on a flat soil ground at 0.15 [mm/s] and climb a cedar tree tilted at 30 [deg] at 0.18 [mm/s].

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages352-357
Number of pages6
ISBN (Electronic)9781728124933
DOIs
Publication statusPublished - 2019 Jul
Event2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
Duration: 2019 Jul 82019 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period19/7/819/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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    Ishibashi, K., Takanishi, A., & Ishii, H. (2019). Development of shape memory alloy driven small legged robot capable of walking on a flat ground and climbing a leaning tree. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 (pp. 352-357). [8868924] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2019.8868924