Browse > Article
http://dx.doi.org/10.7746/jkros.2019.14.4.278

Modular Crawler with Adjustable Number of Legs and Performance Evaluation of Hexapod Robot  

Yim, Sojung (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)
Chae, Soo-Hwan (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 and Institute of Advanced Machines and Design, Seoul National University)
Publication Information
The Journal of Korea Robotics Society / v.14, no.4, 2019 , pp. 278-284 More about this Journal
Abstract
Legged locomotion has high mobility on irregular surfaces by touching the ground at discrete points. Inspired by the creature's legged locomotion, legged robots have been developed to explore unstructured environments. In this paper, we propose a modular crawler that can easily adjust the number of legs for adapting the environment that the robot should move. One module has a pair of legs, so the number of legs can be adjusted by changing the number of modules. All legs are driven by a single driving motor for simple and compact design, so the driving axle of each module is connected by the universal joint. Universal joints between modules enable the body flexion for steering or overcoming higher obstacles. A prototype of crawler with three modules is built and the driving performance and the effect of module lifting on the ability to overcome obstacles are demonstrated by the experiments.
Keywords
Bio-inspired; Locomotion; Legged Robot; Crawler; Modular Robot;
Citations & Related Records
연도 인용수 순위
  • Reference
1 P. Gonzalez de Santos, E. Garcia, and J. Estremera, "Walking Robots," Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots, Springer London, 2006, pp. 3-32.
2 T. Weihmann, "Leg force interference in polypedal locomotion," Science Advances, vol. 4, no. 9, pp. eaat3721, 2018.   DOI
3 D.-S. Kim, S.-P. Jung, and G.-P. Jung, "A Milli-Scale Hexapodal Robot using Planar Linkages," Journal of Korea Robotics Society, vol. 13, no. 2, pp. 97-102, 2018.   DOI
4 S. Aoi, T. Tanaka, S. Fujiki, T. Funato, K. Senda, and K. Tsuchiya, "Advantage of straight walk instability in turning maneuver of multilegged locomotion: a robotics approach," Scientific Reports, vol. 6, no. 30199, 2016.
5 K. L. Hoffman and R. J. Wood, "Passive undulatory gaits enhance walking in a myriapod millirobot," 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, pp. 1479-1486, 2011.
6 K. L. Hoffman and R. J. Wood, "Towards a multi-segment ambulatory microrobot," 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA, pp. 1196-1202, 2010.
7 Y. Yesilevskiy, W. Yang, and C. D. Remy, "Spine morphology and energetics: how principles from nature apply to robotics," Bioinspiration & Biomimetics, vol. 13, no. 3, pp. 036002, 2018.   DOI
8 G. A. Folkertsma, S. Kim, and S. Stramigioli, "Parallel stiffness in a bounding quadruped with flexible spine," 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Portugal, pp. 2210-2215, 2012.
9 A. Garcia, S. Priya, and P. Marek, "Understanding the locomotion and dynamic controls for millipedes: Part 1-Kinematic analysis of millipede movements," ASME 2015 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, Colorado Springs, Colorado, USA, pp. V002T06A005, 2015.
10 J. T. Watson, R. E. Ritzmann, S. N. Zill, and A. J. Pollack, "Control of obstacle climbing in the cockroach, Blaberus discoidalis. I. Kinematics," Journal of Comparative Physiology A, vol. 188, no. 1, pp. 39-53, 2002.   DOI
11 J. J. Chen, A. M. Peattie, K. Autumn, and R. J. Full, "Differential leg function in a sprawled-posture quadrupedal trotter," Journal of Experimental Biology, vol. 209, pp. 249-259, 2006.   DOI
12 D. Koh, J. Yang, and S. Kim, "Centipede robot for uneven terrain exploration: Design and experiment of the flexible biomimetic robot mechanism," 2010 3rd IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics, Tokyo, Japan, pp. 877-881, 2010.
13 T. Kinugasa, K. Osuka, R. Hayashi, N. Miyamoto, and K. Yoshida, "Development of a small and lightweight myriapod robot using passive dynamics," Artificial Life and Robotics, vol. 22, no. 4, pp. 429-434, Dec., 2017.   DOI
14 L. T. Phan, Y. H. Lee, D. Y. Kim, H. Lee, and H. R. Choi, "Stable running with a two-segment compliant leg," Intelligent Service Robotics, vol. 10, no. 3, pp. 173-184, Jul., 2017.   DOI