Abstract
A small and lightweight crawling robots have been actively studied thanks to their outstanding mobility and maneuverability. Those robots can navigate into more confined spaces that larger robots are unable to reach or enter such as debris and caves. In this paper, we propose a milli-scale hexapedal robot based on planar linkage design. To make this possible, two necessary conditions for successful crawling are satisfied: thrust force from the ground and aerial phase while running. These conditions are achieved through a newly developed leg design. The robot has a pair of legs and each leg has three feet. Those feet alternatively moves based on 1DOF planar linkage. This linkage is installed at each side of the robot and finally the robot shows the alternating gait and aerial phase during running. As a result, the robot runs with the crawling speed of 0.9 m/s.
| Translated title of the contribution | A Milli-Scale Hexapedal Robot using Planar Linkages |
|---|---|
| Original language | Korean |
| Pages (from-to) | 97-102 |
| Number of pages | 6 |
| Journal | 로봇학회 논문지 |
| Volume | 13 |
| Issue number | 2 |
| DOIs | |
| State | Published - 2018 |