A Highly Mobile Crawling Robot Inspired by Hexapod Insects*
A Highly Mobile Crawling Robot Inspired by Hexapod Insects*
复制标题
受六足昆虫启发的高度移动爬行机器人*
DOI：
10.1109/robio49542.2019.8961825
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Yan Chen
中科院分区：
文献类型：
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作者：
Mingyuan Yang;Rongjie Kang;Yan Chen
救援机器人通常用于安全和灾难调查任务。然而，复杂的控制和驱动系统使它们非常笨重和昂贵。以六足昆虫为原型，提出了一种成本低、重量轻、控制简单的新型爬行机器人HIbot。该机器人采用可动体和腿轮两种结构，仅用一台直流电机实现机器人的固定运动，不需要额外的控制。一系列实验表明，HIbot可以在砾石、草地等各种户外环境中爬行，可以跨越高达足轮半径2.8倍的障碍物。这些特点使机器人具有很大的应用潜力。
Rescue robots are usually used in security and disaster investigating missions. Yet the complex control and actuation systems make them very heavy and expensive. This paper proposed a novel crawling robot named "HIbot" inspired by hexapod insect with low cost, light weight and simple control. Both movable body and legged-wheel were adapted to achieve fixable movement of the robots with one DC motor and no extra control. A series of experiments demonstrated that the HIbot can crawl in various outdoor environments such as gravel, grassland, etc. It can cross obstacles that are as high as 2.8 times of the radius of the legged-wheel. Such characteristics give the robot a great potential in applications.
蛇救援机器人力反馈方向盘辅助机械智能导航
DOI：
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发表时间：
2004
期刊：
Proc.IEEE Int.Workshop on Robot and Human Interactive Communication
影响因子：
--
作者：
Zhixiao Yang;Kazuyuki Ito;Kazuyuki Hirotusne;Kazuhiko Saijo;Akio Gofuku
通讯作者：
Akio Gofuku