The Four-Leg Locomotion Robot for Heavy Load Transportation
The Four-Leg Locomotion Robot for Heavy Load Transportation
复制标题
用于重载运输的四足运动机器人
DOI：
10.1109/iros.2006.282379
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发表时间：
2006
期刊：
影响因子：
--
通讯作者：
Kiyoshi Kuroi
中科院分区：
文献类型：
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作者：
H. Ishihara;Kiyoshi Kuroi
本文提出了一种新型的以受电弓-千斤顶结构为腿的四足步行机构。本研究旨在开发实用的机器人系统，特别是针对重负载的搬运任务。在救灾、抢险等真实的应用中，重载运输占有重要的地位。千斤顶式腿能够在没有任何主动控制和能量消耗的情况下保持重物。此外，它可以用比物体重量更小的力量轻松举起物体。原型采用爬行动物的典型运动方式爬行行走，通过弯曲腰部实现这一步。样机实现了0.001 m/s的行走和45 kg的有效载荷。本文论述了千斤顶式腿移动机构的概念、样机的设计细节和一些基本性能试验
This paper proposes the new innovated 4-legged locomotion mechanism with pantograph-jack structure as its leg. This study aims at developing the practical robotic system, especially focusing on the carrying task of heavy load. Transportation of heavy load occupies the important parts among the real applications such as disaster relief and rescue activities. The jack-like leg enables to hold a heavy object without any active control and consumption of energy. Additionally, it can lift up an object easily by smaller power than weight of object. Prototype uses the crawl walking which is a typical locomotion way of a reptile, and it has achieved this step by bending its waist. The prototype realized the 0.001 m/s walking and payload of 45 kg. This paper deals with the concept of locomotion mechanism with jack-type leg, details of design of prototype and some properties by some basic experiments