DOI QR코드

DOI QR Code

CrabBot: A Milli-Scale Crab-Inspired Crawling Robot using Double Four-bar Mechanism

CrabBot: 이중 4절 링크를 활용한 꽃게 모사 8족 주행 로봇

  • Received : 2019.08.20
  • Accepted : 2019.10.13
  • Published : 2019.11.30

Abstract

Milli-scale crawling robots have been widely studied due to their maneuverability in confined spaces. For successful crawling, the crawling robots basically required to fulfill alternating gait with elliptical foot trajectory. The alternating gait with elliptical foot trajectory normally generates both forward and upward motion. The upward motion makes the aerial phase and during the aerial phase, the forward motion enables the crawling robots to proceed. This simultaneous forward and upward motion finally results in fast crawling speed. In this paper, we propose a novel alternating mechanism to make a crab-inspired eight-legged crawling robot. The key design strategy is an alternating mechanism based on double four-bar linkages. Crab-like robots normally employs gear-chain drive to make the opposite phase between neighboring legs. To use the gear-chain drive to this milli-scale robot system, however, is not easy because of heavy weight and mechanism complexity. To solve the issue, the double-four bar linkages has been invented to generate the oaring motion for transmitting the equal motion in the opposite phase. Thanks to the proposed mechanism, the robot crawls just like the real crab with the crawling speed of 0.57 m/s.

Keywords

References

  1. D.-S. Kim, S.-P. Jung, and G.-P. Jung, "A Milli-Scale Hexapedal Robot using Planar Linkages," Journal of Korea Robotics Society, vol. 13, no. 2, pp. 97-102, Jun., 2018. https://doi.org/10.7746/jkros.2018.13.2.097
  2. G.-P. Jung, C. S. Casarez, S.-P. Jung, R. S. Fearing, and K.-J. Cho, "An Integrated Jumping-Crawling Robot using Height-Adjustable Jumping Module," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, pp. 4680-4685, 2016.
  3. Y.-S. Kim, G.-P. Jung, H. Kim, K.-J. Cho, and C.-N. Chu, "Wheel Transformer: A Wheel-Leg Hybrid Robot With Passive Transformable Wheels," IEEE Transactions on Robotics, vol. 30, no. 6, pp. 1487-1498, Dec., 2014. https://doi.org/10.1109/TRO.2014.2365651
  4. S. D. de Rivaz, B. Goldberg, N. Doshi, K. Jayaram, J. Zhou, and R. J. Wood, "Inverted and vertical climbing of a quadrupedal microrobot using electroadhesion," Science Robotics, vol. 3, no. 25, p. eaau3038, 2018. https://doi.org/10.1126/scirobotics.aau3038
  5. J. M. Morrey, B. Lambrecht, A. D. Horchler, R. E. Ritzmann, and R. D. Quinn, "Highly mobile and robust small quadruped robots," 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV, USA, pp. 82-87, 2003
  6. P. Birkmeyer, K. Peterson, and R. S. Fearing, "DASH: A dynamic 16g hexapedal robot," 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, USA, pp. 2683-2689, 2009
  7. A. T. Baisch, C. Heimlich, M. Karpelson, and R. J. Wood, "HAMR3: An autonomous 1.7g ambulatory robot," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, Francisco, CA, USA, pp. 5073-5079.
  8. D. W. Haldane and R. S. Fearing, "Running beyond the bio-inspired regime," 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 4539-4546, 2015.
  9. S. Kim, J. E. Clark, and M. R. Cutkosky, "iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running," (in en), The International Journal of Robotics Research, vol. 25, pp. 903-912, Sept., 2006. https://doi.org/10.1177/0278364906069150
  10. T.-Y. Kim, C. Kim, S.-H. Kim, and G.-P. Jung, "MutBug: A Lightweight and Compact Crawling Robot That Can Run on Both Sides," IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1409-1415, Apr., 2019. https://doi.org/10.1109/LRA.2019.2895896
  11. J.-E. Lee, G.-P. Jung, and K.-J. Cho, "Bio-inspired design of a double-sided crawling robot," Conference on Biomimetic and Biohybrid Systems, pp. 562-566, 2017.