GS8-5 Consideration on a Crawler Robot with Six Legs

Title:	GS8-5 Consideration on a Crawler Robot with Six Legs
Publication:	ICAROB2016
Volume:	21
Pages:	88-91
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2016.GS8-5
Author(s):	Toyomi Fujita, Tiga Sasaki
Publication Date:	January 29, 2016
Keywords:	Crawler-type mobile robot, legged robot, hybrid motion, handling task with locomotion, running motion over a gap
Abstract:	In this study, we consider development of a crawler-type mobile robot which is equipped with six legs at its body. This type of robot may have possibilities of both high mobility on rough terrain and working ability with handling such as carrying an object and removing small obstacles in its movement by using the legs as manipulation arms. This paper presents mechanisms and characteristics of this type of robot and some possible hybrid motions in which crawlers and legs are used. A running motion over a large gap by this type of robot is also considered as a typical hybrid motion with crawlers and legs. Necessary joint-torques of the legs in the motion are also analyzed in a computer simulation.
PDF File:	https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS8-5.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/