The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Milli-Scale Hexapedal Robot using Planar Linkages

평면기구 메커니즘을 이용한 소형 6족 로봇

  • Received : 2018.03.31
  • Accepted : 2018.04.30
  • Published : 2018.05.31
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Abstract

A small and lightweight crawling robots have been actively studied thanks to their outstanding mobility and maneuverability. Those robots can navigate into more confined spaces that larger robots are unable to reach or enter such as debris and caves. In this paper, we propose a milli-scale hexapedal robot based on planar linkage design. To make this possible, two necessary conditions for successful crawling are satisfied: thrust force from the ground and aerial phase while running. These conditions are achieved through a newly developed leg design. The robot has a pair of legs and each leg has three feet. Those feet alternatively moves based on 1DOF planar linkage. This linkage is installed at each side of the robot and finally the robot shows the alternating gait and aerial phase during running. As a result, the robot runs with the crawling speed of 0.9 m/s.

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References

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