Proposal for semiautonomous centipede-like robot for rubble — Development of an actual scale robot and validation of its mobility
Proposal for semiautonomous centipede-like robot for rubble — Development of an actual scale robot and validation of its mobility
复制标题
半自主蜈蚣式碎石机器人提案——实际规模机器人的开发及其移动性验证
DOI：
10.1109/icamechs.2014.6911580
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Kazuyuki Ito
中科院分区：
文献类型：
--
作者：
Yasunori Ishigaki;Kazuyuki Ito
在这项研究中，我们开发了一个多足机器人，旨在操作碎石。通常，传统的多足机器人具有许多用于驱动腿和身体的致动器。因此，这些机器人的控制比履带式机器人（如坦克机器人）的控制更复杂，并且在复杂的环境（如包含碎石的环境）中自适应地操作多足机器人是非常困难的。为了解决这个问题，我们已经设计了一种机制，多足机器人，减少了控制器的负载，通过使用被动机制。为了设计这个机器人，我们专注于蜈蚣。首先，我们通过使用高速摄像机观察蜈蚣的行为，然后，为了通过简单的机构实现这种行为，我们提出了一种多足机器人，该机器人通过橡胶关节串联连接许多连杆。在这种机制中，每个关节的每一侧都有一条腿，腿像蜈蚣一样有规律地移动。橡胶接头的弹性补偿了地面上的颠簸。为了控制机器人的运动方向，在连杆上安装了导线，通过拉动导线，机器人的身体前部可以抬起或转动。通过简单地拉动电线，我们可以控制机器人的移动方向;因此，我们不必单独控制许多关节来克服颠簸。关节可以被动地移动以适应颠簸。为了证明所提出的机制的有效性，我们开发了一个实际规模的原型机器人，并进行了实验。结果表明，机器人能够在碎石上移动到所需的位置。
In this study, we develop a multi-legged robot that is designed to operate on rubble. Generally, conventional multi-legged robots have many actuators for driving the legs and body. Hence, control of these robots is more complicated than that of crawler robots such as tank robots, and it is very difficult to operate multi-legged robots adaptively in a complex environment such as that containing rubble. To solve this problem, we have designed a mechanism for a multi-legged robot that reduces the controller load by using a passive mechanism. To design the robot, we focused on a centipede. First, we observed the behavior of a centipede by using a high-speed camera, and then, to realize this behavior by a simple mechanism, we proposed a multi-legged robot that was built by connecting many links serially through rubber joints. In this mechanism, every joint has a leg on each side, and the legs move regularly like a centipede. The elasticity of the rubber joints compensates for the bumps on the ground. To control the moving direction, wires are installed through the links, and by pulling the wires, the front of body of the robot can be lifted up or turned. By simply pulling the wires, we can control the moving direction of the robot; therefore, we do not have to control many joints individually to overcome bumps. The joints can move passively to adapt to bumps. To demonstrate the effectiveness of the proposed mechanism, we developed an actual-scale prototype robot and conducted experiments. The results showed that the robot can move on rubble to desired positions.