An Investigation on Shape of Leg for Small Leg Typed Rovers with a Function of Vibration Propagation

Tomohiro Watanabe, Shigeru Kuronuma, Kojiro Iizuka

研究成果

抄録

In recent years, the leg typed robots are focused on as a small exploration rover. However, it is difficult to walk on the loose ground for these rovers. Our research group was proposed walking method using vibration for improving running performance of small leg typed rover. In this research, the shape of leg which is suitable for the walking method using vibration is proposed. By improving about the shape of leg, it is considered that the changes of the ground when vibration gives to the ground can be lager. The shape of leg that it is easy to increase sinkage to the ground was proposed in order to increase passive earth pressure. The experiment which measures sinkage and passive earth pressure was carried out using proposed shapes of leg. From the result of experiment, it was confirmed that sinkage of the leg to the ground and passive earth pressure were increased using shape of leg which reduces surface which touches the ground. The reason is that force which is given to the ground is not spread using this shape. Next, the slope walking experiment was carried out using testbed. Moreover, slip rate of testbed was reduced by about 23% using proposed shape of leg. Therefore, it was confirmed that moving performance of small leg typed rovers is improved by improving the shape of leg.

本文言語English
ホスト出版物のタイトルRiTA 2020 - Proceedings of the 8th International Conference on Robot Intelligence Technology and Applications
編集者Esyin Chew, Anwar P. P. Abdul Majeed, Pengcheng Liu, Jon Platts, Hyun Myung, Junmo Kim, Jong-Hwan Kim
出版社Springer Science and Business Media Deutschland GmbH
ページ11-21
ページ数11
ISBN(印刷版)9789811648021
DOI
出版ステータスPublished - 2021
イベント8th International Conference on Robot Intelligence Technology and Applications, RiTA 2020 - Virtual, Online
継続期間: 2020 12 112020 12 13

出版物シリーズ

名前Lecture Notes in Mechanical Engineering
ISSN(印刷版)2195-4356
ISSN(電子版)2195-4364

Conference

Conference8th International Conference on Robot Intelligence Technology and Applications, RiTA 2020
CityVirtual, Online
Period20/12/1120/12/13

ASJC Scopus subject areas

  • 自動車工学
  • 航空宇宙工学
  • 機械工学
  • 流体および伝熱

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