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.

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

出版物シリーズ

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

ASJC Scopus subject areas

  • モデリングとシミュレーション
  • 材料力学
  • 機械工学
  • コンピュータ サイエンスの応用

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