Development of a small and lightweight myriapod robot using passive dynamics
Development of a small and lightweight myriapod robot using passive dynamics
复制标题
利用被动动力学开发小型轻量多足机器人
DOI：
10.1007/s10015-017-0378-x
复制
发表时间：
2017
影响因子：
0.9
通讯作者：
K. Yoshida
中科院分区：
文献类型：
--
作者：
T. Kiungasa;K. Osuka;R. Hayashi;N. Miyamoto;K. Yoshida
典型的多足机器人最初又大又重，用于驱动众多关节。因此，这些机器人很难综合各方面的智能，比如多足类的适应性。本研究的目的是通过实施被动动力学开发一种轻型、简单且自适应的多足机器人。在本文中，我们开发了基于被动动力学的多足机器人原型i-CentiPot P（隐脑蜈蚣机器人原型），以验证其基本机制。 i-CentiPot P 重量轻（重量约 1.5 kg）且体积小（长、宽、高分别为 1.2 m、20 cm 和 5 cm）。实验结果表明，i-CentiPot P可以自主攀爬或避开一些障碍物。 i-CentiPot P 没有活动躯干关节。尽管如此，我们观察到躯干波动出现了。该结果表明腿部、灵活和被动的躯干以及地面之间的相互作用提供了自发波动。
Typical myriapod robots were originally large and heavy for actuating numerous joints. Therefore, it is difficult for these robots to synthesise aspects of intelligence, such as adaptability of Myriapoda. The aim of this study is to develop a light, simple, and adaptive myriapod robot by implementing passive dynamics. In the paper, we develop a prototype of the myriapod robot, the i-CentiPot P (implicit brain centipede robot prototype) based on passive dynamics to validate its fundamental mechanism. The i-CentiPot P is lightweight (weight of approximately 1.5 kg) and small (length, width, and height of 1.2 m, 20 cm, and 5 cm). The experimental results showed that the i-CentiPot P could climb over or avoid some obstacles autonomously. The i-CentiPot P did not have active torso joints. Nevertheless, we observed that torso undulation emerged. This result indicates that interaction between the legs, the flexible and passive torso, and the ground provides the spontaneous undulation.