Proposal of semiautonomous centipede-like robot for rubbles
Proposal of semiautonomous centipede-like robot for rubbles
复制标题
半自主蜈蚣式瓦砾机器人的提案
DOI：
10.1007/s10015-014-0181-x
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Shota Kashiwada
中科院分区：
文献类型：
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作者：
Kazuyuki Ito;Shota Kashiwada
在本文中，我们提出了一个多足机器人，是专为操作碎石。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，在这些机器人的情况下的控制比在履带式机器人的情况下的控制更复杂，并且很难在如碎石的复杂环境中自适应地操作多足机器人。为了解决这个问题，我们设计了一种机构的腿式机器人，以减少控制器的负载，通过利用被动机构。为了设计机器人，我们把重点放在蜈蚣上。首先，我们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来实现。在这个机构中，每个关节的两侧都有一条腿，机器人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。为了控制移动方向，通过连杆安装电线，通过拉动电线，机器人的身体可以抬起或转动。通过简单地拉动合适的电线，我们可以控制机器人的移动方向。我们不必单独控制许多关节来穿越凹凸。它们可以被动地移动，也可以越过颠簸。为了证明所提出的机器人的有效性，我们已经开发了一个原型机器人，并进行了一定的实验。结果表明，机器人能够在碎石上移动到所需的位置。
In this paper, we propose a multi-legged robot that is designed for operating on rubble. Generally, conventional multi-legged robots have many actuators for driving the legs and body. Hence, control in the case of these robots is more complicated than that in the case of crawler robots, and it is very difficult to operate multi-legged robots adaptively in a complex environment like rubble. To solve this problem, we have designed a mechanism of the legged robot for reducing the controller load by utilizing a passive mechanism. To design the robot, we focus on a centipede. First, we observe the behavior of a centipede using a high-speed camera, and then, to realize this behavior by a simple mechanism, we propose a multi-legged robot that is realized by connecting many links serially through rubber joints. In this mechanism, every joint has a leg on both sides, and the robot moves 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 body of the robot can be lifted up or turned. By simply pulling the suitable wires, we can control the moving direction of the robot. We do not have to control many joints individually for crossing bumps. They can move passively and can cross the bumps. To demonstrate the effectiveness of the proposed robot, we have developed a prototype robot and conducted certain experiments. The results show that the robot can move on rubble to desired positions.