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

研究成果: Conference contribution

抄録

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].

本文言語English
ホスト出版物のタイトルProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ352-357
ページ数6
ISBN(電子版)9781728124933
DOI
出版ステータスPublished - 2019 7
イベント2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
継続期間: 2019 7 82019 7 12

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2019-July

Conference

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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