Analysis on weight arrangement scheme to reduce the weight of multi-legged robot

Takashi Kubota; Hiroo Takahashi; Kojiro Iizuka

doi:10.1109/ROBOT.2005.1570293

Analysis on weight arrangement scheme to reduce the weight of multi-legged robot

Takashi Kubota, Hiroo Takahashi, Kojiro Iizuka

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

Planetary exploration robots are required to explore rough and steep areas such as craters and cliffs to achieve scientific goals. Most of the proposed rovers have some wheels to move on a planetary surface. However, it is difficult to traverse on a rough terrain flexibly. A legged rover can provide higher capability of moving in such a rough terrain than wheeled robots. Therefore the authors have studied a small and lightweight rover which can move across a rough terrain such as a steep slope inside craters. This paper deals with design scheme for a light walking rover for planetary exploration. This paper presents analysis on the proposed weight arrangement scheme to reduce the weight of the walking robots. The effectiveness of the proposed scheme is shown by computer simulation and hardware study.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	1291-1296
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570293
Publication status	Published - 2005 Dec 1
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 2005 Apr 18 → 2005 Apr 22

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	05/4/18 → 05/4/22

Keywords

Micro rover architecture
Multi-legged robot
Planetary exploration
Weight arrangement

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ROBOT.2005.1570293

Cite this

Analysis on weight arrangement scheme to reduce the weight of multi-legged robot. / Kubota, Takashi; Takahashi, Hiroo; Iizuka, Kojiro.

Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 1291-1296 1570293 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kubota, T, Takahashi, H & Iizuka, K 2005, Analysis on weight arrangement scheme to reduce the weight of multi-legged robot. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570293, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 1291-1296, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 05/4/18. https://doi.org/10.1109/ROBOT.2005.1570293

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abstract = "Planetary exploration robots are required to explore rough and steep areas such as craters and cliffs to achieve scientific goals. Most of the proposed rovers have some wheels to move on a planetary surface. However, it is difficult to traverse on a rough terrain flexibly. A legged rover can provide higher capability of moving in such a rough terrain than wheeled robots. Therefore the authors have studied a small and lightweight rover which can move across a rough terrain such as a steep slope inside craters. This paper deals with design scheme for a light walking rover for planetary exploration. This paper presents analysis on the proposed weight arrangement scheme to reduce the weight of the walking robots. The effectiveness of the proposed scheme is shown by computer simulation and hardware study.",

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AU - Takahashi, Hiroo

AU - Iizuka, Kojiro

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N2 - Planetary exploration robots are required to explore rough and steep areas such as craters and cliffs to achieve scientific goals. Most of the proposed rovers have some wheels to move on a planetary surface. However, it is difficult to traverse on a rough terrain flexibly. A legged rover can provide higher capability of moving in such a rough terrain than wheeled robots. Therefore the authors have studied a small and lightweight rover which can move across a rough terrain such as a steep slope inside craters. This paper deals with design scheme for a light walking rover for planetary exploration. This paper presents analysis on the proposed weight arrangement scheme to reduce the weight of the walking robots. The effectiveness of the proposed scheme is shown by computer simulation and hardware study.

AB - Planetary exploration robots are required to explore rough and steep areas such as craters and cliffs to achieve scientific goals. Most of the proposed rovers have some wheels to move on a planetary surface. However, it is difficult to traverse on a rough terrain flexibly. A legged rover can provide higher capability of moving in such a rough terrain than wheeled robots. Therefore the authors have studied a small and lightweight rover which can move across a rough terrain such as a steep slope inside craters. This paper deals with design scheme for a light walking rover for planetary exploration. This paper presents analysis on the proposed weight arrangement scheme to reduce the weight of the walking robots. The effectiveness of the proposed scheme is shown by computer simulation and hardware study.

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Analysis on weight arrangement scheme to reduce the weight of multi-legged robot

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

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