A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds

A Four-Legged Mobile Robot with Prismatic Joints on Spiral Footholds 利用統計を見る

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アイテムタイプ	紀要論文 / Departmental Bulletin Paper
言語	英語
キーワード	Mobile robot, Legged robot, Wetland, Environmental survey, Robot motion
著者	HANAJIMA Naohiko ( 研究者リゾルバーID: 1000040261383 ) LIU Qunpo KAJIWARA Hidekazu ( 研究者リゾルバーID: 1000000280313 )
著者（別表記）	花島直彦劉群坡梶原秀一
室蘭工業大学研究者データベースへのリンク	花島直彦（HANAJIMA Naohiko）梶原秀一（KAJIWARA Hidekazu）
抄録	This paper addresses a new design of a four-legged mobile robot with a double-spiral mobile architecture. The double-spiral mobile architecture has been proposed with the intention of use for environmental surveys in wetlands, where reed-like plants grow densely. It consists of two pairs of spirals and one mobile robot. Each pair of spirals plays the role of footholds for the mobile robot. By traveling at a higher place from the ground, the robot can avoid strong resistance force from the dense and hard-stemmed plants. In addition, the spirals intermediate between the robots and the muddy ground to avoid sinking. The proposed leg mechanism does not have any vertical movement. It contributes to energy saving in the robot. Also it provides the arbitrary motion of the body platform while the legs grip the spirals tightly. We derive the robot’s kinematics and statics and show the validity of the design mathematically.
雑誌名	室蘭工業大学紀要
巻	65
ページ	23 - 29
発行年	2016-03-25
注記	特集 : The Papers Presented at the Symposium on Mechanical Engineering, Industrial Engineering, and Robotics 2015 (MIER2015) held at Muroran, Hokkaido, Japan on 29 - 30 May 2015
出版者	室蘭工業大学
日本十進分類法	548
ISSN	13442708
書誌レコードID	AA11912609
権利	© 2016 室蘭工業大学
著者版フラグ	publisher
フォーマット	application/pdf

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