URARAKA IV: Multi-Legged Robot with Suckers to Climb a Wall-Autonomous climbing and recovery from miss-adsorption-

URARAKA IV: Multi-Legged Robot with Suckers to Climb a Wall-Autonomous climbing and recovery from miss-adsorption-
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DOI：
10.1109/robio.2018.8665094
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发表时间：
2018-12
期刊：
2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
影响因子：
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通讯作者：
Makoto Okino;K. Nagayama;Kazuyuki Ito;T. Oomichi;S. Ashizawa;F. Matsuno
Makoto Okino;K. Nagayama;Kazuyuki Ito;T. Oomichi;S. Ashizawa;F. Matsuno
中科院分区：
其他
文献类型：
--
作者：
Makoto Okino;K. Nagayama;Kazuyuki Ito;T. Oomichi;S. Ashizawa;F. Matsuno

文献摘要

相似文献

在我们之前的工作中，我们专注于利用吸盘攀爬未知垂直墙壁的机器人，并利用其身体的被动性开发了自主多足机器人。在本文中，我们通过添加自主重吸附过程来增强先前机器人的自主性。还进行了攀爬弯曲墙壁和粗糙表面的实验，并证明了所开发机器人的有效性。
In our previous works, we focused on a robot that climbs an unknown vertical wall by using suckers, and we developed an autonomous multi-legged robot by utilizing the passivity of its body. In this paper we enhance the autonomy of the previous robot by adding the procedure of an autonomous re-adsorption. Also experiments to climb a curved wall and a rough surface were also conducted, and the effectiveness of the developed robot was demonstrated.