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http://dx.doi.org/10.7746/jkros.2019.14.4.270

Effect of Leg Stiffness on the Running Performance of Milli-Scale Six-Leg Crawling Robot with Payload  

Chae, Soo-Hwan (Mechanical and Aerospace Engineering, Seoul National University)
Baek, Sang-Min (Mechanical and Aerospace Engineering, Seoul National University)
Lee, Jongeun (Mechanical and Aerospace Engineering, Seoul National University)
Yim, Sojung (Mechanical and Aerospace Engineering, Seoul National University)
Ryu, Jae-Kwan (Unmanned/Robotic Systems Lab. LIG Nex1)
Jo, Yong-Jin (Unmanned/Robotic Systems Lab. LIG Nex1)
Cho, Kyu-Jin (Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University)
Publication Information
The Journal of Korea Robotics Society / v.14, no.4, 2019 , pp. 270-277 More about this Journal
Abstract
Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach's leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.
Keywords
Bio-inspired; Six-Leg Crawling; Compliance; Leg Stiffness; Payload;
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