Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

Takashi Matsuzawa; Takanobu Matsubara; Kenji Hashimoto; Tomotaka Teramachi; Xiao Sun; Shunsuke Kimura; Nobuaki Sakai; Yuki Yoshida; Asaki Imai; Kengo Kumagai; Koki Yamaguchi; Keisuke Namura; Atsuo Takanishi

doi:10.1007/978-3-319-78963-7_36

Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

Takashi Matsuzawa^*, Takanobu Matsubara, Kenji Hashimoto, Tomotaka Teramachi, Xiao Sun, Shunsuke Kimura, Nobuaki Sakai, Yuki Yoshida, Asaki Imai, Kengo Kumagai, Koki Yamaguchi, Keisuke Namura, Atsuo Takanishi

^*Corresponding author for this work

School of Creative Science and Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	280-287
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-319-78963-7_36
Publication status	Published - 2019

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	584
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Crawling
Legged robots
Mechanism design
Slippage reduction
Uneven terrain

ASJC Scopus subject areas

Modelling and Simulation
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

Access to Document

10.1007/978-3-319-78963-7_36

Cite this

Matsuzawa, T., Matsubara, T., Hashimoto, K., Teramachi, T., Sun, X., Kimura, S., Sakai, N., Yoshida, Y., Imai, A., Kumagai, K., Yamaguchi, K., Namura, K., & Takanishi, A. (2019). Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 280-287). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584). Springer International Publishing. https://doi.org/10.1007/978-3-319-78963-7_36

Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. / Matsuzawa, Takashi; Matsubara, Takanobu; Hashimoto, Kenji et al.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. p. 280-287 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 584).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Matsuzawa, T, Matsubara, T, Hashimoto, K, Teramachi, T, Sun, X, Kimura, S, Sakai, N, Yoshida, Y, Imai, A, Kumagai, K, Yamaguchi, K, Namura, K & Takanishi, A 2019, Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 584, Springer International Publishing, pp. 280-287. https://doi.org/10.1007/978-3-319-78963-7_36

Matsuzawa T, Matsubara T, Hashimoto K, Teramachi T, Sun X, Kimura S et al. Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2019. p. 280-287. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-319-78963-7_36

Matsuzawa, Takashi ; Matsubara, Takanobu ; Hashimoto, Kenji et al. / Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2019. pp. 280-287 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

@inbook{0b20edffd0674c258cfd57204101ab63,

title = "Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain",

abstract = "In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.",

keywords = "Crawling, Legged robots, Mechanism design, Slippage reduction, Uneven terrain",

author = "Takashi Matsuzawa and Takanobu Matsubara and Kenji Hashimoto and Tomotaka Teramachi and Xiao Sun and Shunsuke Kimura and Nobuaki Sakai and Yuki Yoshida and Asaki Imai and Kengo Kumagai and Koki Yamaguchi and Keisuke Namura and Atsuo Takanishi",

note = "Funding Information: Acknowledgment. This study was conducted with the support of Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. This research was funded by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Publisher Copyright: {\textcopyright} 2019, CISM International Centre for Mechanical Sciences.",

year = "2019",

doi = "10.1007/978-3-319-78963-7_36",

language = "English",

series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

publisher = "Springer International Publishing",

pages = "280--287",

booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",

}

TY - CHAP

T1 - Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

AU - Matsuzawa, Takashi

AU - Matsubara, Takanobu

AU - Hashimoto, Kenji

AU - Teramachi, Tomotaka

AU - Sun, Xiao

AU - Kimura, Shunsuke

AU - Sakai, Nobuaki

AU - Yoshida, Yuki

AU - Imai, Asaki

AU - Kumagai, Kengo

AU - Yamaguchi, Koki

AU - Namura, Keisuke

AU - Takanishi, Atsuo

N1 - Funding Information: Acknowledgment. This study was conducted with the support of Research Institute for Science and Engineering, Waseda University; Future Robotics Organization, Waseda University, and as a part of the humanoid project at the Humanoid Robotics Institute, Waseda University. This research was funded by ImPACT TRC Program of Council for Science, Technology and Innovation (Cabinet Office, Government of Japan). Publisher Copyright: © 2019, CISM International Centre for Mechanical Sciences.

PY - 2019

Y1 - 2019

N2 - In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.

AB - In this paper, we propose a body mechanism for a legged robot to reduce slippage when moving on an uneven terrain. In the proposed landing mechanism, linear spikes are distributed on the grounding, and they move passively with respect to the road surface shape. This mechanism is aimed to improve the grip performance on an irregular road surface and the movement capability. The developed mechanism is mounted on the body of a four-limbed robot named “WAREC-1.” The robot performs crawling motion over an inclined rough terrain. The crawling includes a motion wherein its legs and torso alternately contact the ground. The experimental results show that the downward sliding of the robot is reduced and that the mechanism contributes to improving the grip performance and movement capability on uneven terrain.

KW - Crawling

KW - Legged robots

KW - Mechanism design

KW - Slippage reduction

KW - Uneven terrain

UR - http://www.scopus.com/inward/record.url?scp=85051521126&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85051521126&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-78963-7_36

DO - 10.1007/978-3-319-78963-7_36

M3 - Chapter

AN - SCOPUS:85051521126

T3 - CISM International Centre for Mechanical Sciences, Courses and Lectures

SP - 280

EP - 287

BT - CISM International Centre for Mechanical Sciences, Courses and Lectures

PB - Springer International Publishing

ER -

Body Mechanism with Linear Spikes for Slippage Reduction of Four-Limbed Robot Crawling on Uneven Terrain

Abstract

Publication series

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this