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

    研究成果: Chapter

    抄録

    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.

    元の言語English
    ホスト出版物のタイトルCISM International Centre for Mechanical Sciences, Courses and Lectures
    出版者Springer International Publishing
    ページ280-287
    ページ数8
    DOI
    出版物ステータスPublished - 2019 1 1

    出版物シリーズ

    名前CISM International Centre for Mechanical Sciences, Courses and Lectures
    584
    ISSN(印刷物)0254-1971
    ISSN(電子版)2309-3706

    Fingerprint

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

    Keywords

      ASJC Scopus subject areas

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

      これを引用

      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. : CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 280-287). (CISM International Centre for Mechanical Sciences, Courses and Lectures; 巻数 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; 巻 584).

      研究成果: Chapter

      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. : CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, 巻. 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 その他. 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. 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 -