Continuous Shape Changing Locomotion of 32-legged Spherical Robot
Continuous Shape Changing Locomotion of 32-legged Spherical Robot
复制标题
32足球形机器人的连续变形运动
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
J. Nakazawa
中科院分区：
文献类型：
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作者：
Hiroki Nozaki;Yusei Kujirai;Ryuma Niiyama;Y. Kawahara;Takuro Yonezawa;J. Nakazawa
变形机器人因其全向特征而成为一种在不确定地形上运动的方法。然而，目前此类机器人的运动方法依赖于不连续滚动。我们提出了一种自由形式的运动：可变形机器人的全向连续爬行。该方法引入了类似于阿米巴运动的接触面的连续移动。开发了具有 32 个伸缩腿的 Mochibot 来验证所提出的运动方法。通过实验，我们确认机器人可以跟踪平滑的路径：直线、平滑、手写曲线。我们还评估机器人的期望轨迹和测量轨迹之间的误差。
Shape changing robot is an approach towards locomotion on uncertain terrain due to its omni-directional features. However, the current locomotion method for such robots rely on discontinuous rolling. We propose a free form locomotion: an omni directional continuous crawling for deformable robots. This method introduce continuous shifting of contact surface similar to amoeba movement. A Mochibot that has thirty two telescopic legs is developed to verify the proposed locomotion method. Through the experiments, we have confirmed that the robot can track smooth paths: straight, smooth, and hand written curves. We also evaluate errors between desired and measured trajectories of the robot.