Insect-Tarsus-Inspired Legs: Toward Improvement of Gripping Ability of Small Tree-Climbing Robots

Keitaro Ishibashi, Hiroyuki Ishii

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

Abstract

This study proposes an insect-Tarsus-inspired leg for a small tree-climbing robot. The expansion of the range of the grippable diameter is a concern for small tree-climbing robots; in this study, we focus on the leg structure of insects that can grip trees of various diameters and reproduce it. The shape memory alloy actuator and superelastic alloy sheet are used to reproduce the bending and extension of the insect tarsus, which is important for gripping. The developed robot with four insect-Tarsus-inspired legs exhibits excellent gripping ability in a cylinder gripping experiment: The range of grippable diameter is 40-250 mm, and the gripping force is 1 N or more. This robot weighs 5.8 g with dimensions of W55 x L60 x H55 mm, and is compact and lightweight; it can exert a gripping force 17 times its own weight over a wide range of diameters. A similar gripping force is confirmed when the Kitayama cedar is gripped. This weight-To-payload ratio is significantly larger than that of conventional tree-climbing robots. This indicates that insect-Tarsus-inspired legs can contribute to improving the gripping ability of small tree-climbing robots.

Original languageEnglish
Title of host publicationBioRob 2022 - 9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society
ISBN (Electronic)9781665458498
DOIs
Publication statusPublished - 2022
Event9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022 - Seoul, Korea, Republic of
Duration: 2022 Aug 212022 Aug 24

Publication series

NameProceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume2022-August
ISSN (Print)2155-1774

Conference

Conference9th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2022
Country/TerritoryKorea, Republic of
CitySeoul
Period22/8/2122/8/24

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering
  • Mechanical Engineering

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