Multi-legged Robot for 3-dimensional Environments

• SAITO Asuki

  Faculty of Science and Technology, Hosei University

• NAGAYAMA Kazuki

  Faculty of Science and Technology, Hosei University

• HOMMA Yoshihiro

  Faculty of Science and Technology, Hosei University

• AOYAGI Ryushi

  Faculty of Science and Technology, Hosei University

• ITO Kazuyuki

  Faculty of Science and Technology, Hosei University

• OOMICHI Takeo

  Faculty of Science and Technology, Meijo University

• ASHIZAWA Satoshi

  Faculty of Science and Technology, Meijo University

• MATSUNO Fumitoshi

  Graduate School of Engineering, Kyoto University

Bibliographic Information

Other Title

• 三次元環境を移動可能な多脚型ロボット
• 三次元環境を移動可能な多脚型ロボット : 身体の柔軟性を利用した未知環境への適応
• サンジゲン カンキョウ オ イドウ カノウ ナ タキャクガタ ロボット : シンタイ ノ ジュウナンセイ オ リヨウ シタ ミチ カンキョウ エ ノ テキオウ
• —身体の柔軟性を利用した未知環境への適応—
• —Adaptive Mechanism Using Flexible Body and Legs—

Abstract

Maintenance and inspection of old buildings, bridges, tunnels and so on are one of the important tasks of robots, and these robots are expected to be used for search and rescue missions in case of disasters. However, in such environment, it is difficult to operate robots autonomously because the surface of them are complex and unknown. In inspection tasks, many robots are expected to be simultaneously operated by a small number of operators, therefor lack of autonomy is a serious problem for practical use. To solve this problem, we focus on flexible mechanisms of bodies of creatures, and we propose two types of multi-legged robot. One is for climbing vertical walls and the other is for climbing vertical pipes. We developed prototype robots and conducted experiments. As a result, we confirmed that the developed robot can climb autonomously by utilizing the passive mechanisms.

Journal

• Transactions of the Society of Instrument and Control Engineers

  Transactions of the Society of Instrument and Control Engineers 54 (9), 695-704, 2018

  The Society of Instrument and Control Engineers

Keywords

• multi-legged robot
• wall climbing robot
• pipe climbing robot
• flexible mechanism
• inspection of buildings

Details

• CRID: 1390001288071876608
• NII Article ID: 130007485443
• NII Book ID: AN00072392
• DOI: 10.9746/sicetr.54.695
• ISSN: 18838189
• ISSN: 04534654
• NDL BIB ID: 029263468
• Web Site: http://id.ndl.go.jp/bib/029263468
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I029263468
• Web Site: https://www.jstage.jst.go.jp/article/sicetr/54/9/54_695/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed