Mechanical design of six-legged walking robot, Little Crabster

Jung Yup Kim; Bong Huan Jun

doi:10.1109/OCEANS-Yeosu.2012.6263402

Mechanical design of six-legged walking robot, Little Crabster

Jung Yup Kim, Bong Huan Jun

Dept. of Mechanical System and Design Engineering

Korea Institute of Ocean Science & Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This paper describes the mechanical design of a six-legged walking robot named Little Crabster as a ground test platform of an underwater walking robot. First, the dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data of the crabs, lobsters, and insects. Second, the joint actuators including motors and reduction gears are chosen through the simple force analysis. Third, the two types of the joint mechanism are established for the detailed design. Finally, the 2D design is performed using AutoCAD which is a commercial CAD software. The detailed design features are addressed in this paper.

Original language	English
Title of host publication	Program Book - OCEANS 2012 MTS/IEEE Yeosu
Subtitle of host publication	The Living Ocean and Coast - Diversity of Resources and Sustainable Activities
DOIs	https://doi.org/10.1109/OCEANS-Yeosu.2012.6263402
State	Published - 2012
Event	OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities - Yeosu, Korea, Republic of Duration: 21 May 2012 → 24 May 2012

Publication series

Name	Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

Conference

Conference	OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities
Country/Territory	Korea, Republic of
City	Yeosu
Period	21/05/12 → 24/05/12

Keywords

crabster
mechanical design
six-legged
walking robot

Access to Document

10.1109/OCEANS-Yeosu.2012.6263402

Cite this

Kim, J. Y., & Jun, B. H. (2012). Mechanical design of six-legged walking robot, Little Crabster. In Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities Article 6263402 (Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities). https://doi.org/10.1109/OCEANS-Yeosu.2012.6263402

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title = "Mechanical design of six-legged walking robot, Little Crabster",

abstract = "This paper describes the mechanical design of a six-legged walking robot named Little Crabster as a ground test platform of an underwater walking robot. First, the dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data of the crabs, lobsters, and insects. Second, the joint actuators including motors and reduction gears are chosen through the simple force analysis. Third, the two types of the joint mechanism are established for the detailed design. Finally, the 2D design is performed using AutoCAD which is a commercial CAD software. The detailed design features are addressed in this paper.",

keywords = "crabster, mechanical design, six-legged, walking robot",

author = "Kim, \{Jung Yup\} and Jun, \{Bong Huan\}",

year = "2012",

doi = "10.1109/OCEANS-Yeosu.2012.6263402",

language = "English",

isbn = "9781457720895",

series = "Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities",

booktitle = "Program Book - OCEANS 2012 MTS/IEEE Yeosu",

note = "OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities ; Conference date: 21-05-2012 Through 24-05-2012",

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Kim, JY & Jun, BH 2012, Mechanical design of six-legged walking robot, Little Crabster. in Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities., 6263402, Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities, OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities, Yeosu, Korea, Republic of, 21/05/12. https://doi.org/10.1109/OCEANS-Yeosu.2012.6263402

Mechanical design of six-legged walking robot, Little Crabster. / Kim, Jung Yup; Jun, Bong Huan.
Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities. 2012. 6263402 (Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Kim, Jung Yup

AU - Jun, Bong Huan

PY - 2012

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N2 - This paper describes the mechanical design of a six-legged walking robot named Little Crabster as a ground test platform of an underwater walking robot. First, the dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data of the crabs, lobsters, and insects. Second, the joint actuators including motors and reduction gears are chosen through the simple force analysis. Third, the two types of the joint mechanism are established for the detailed design. Finally, the 2D design is performed using AutoCAD which is a commercial CAD software. The detailed design features are addressed in this paper.

AB - This paper describes the mechanical design of a six-legged walking robot named Little Crabster as a ground test platform of an underwater walking robot. First, the dimensions, joint structure, range of motion, and mass distribution of the robot are determined by considering biological data of the crabs, lobsters, and insects. Second, the joint actuators including motors and reduction gears are chosen through the simple force analysis. Third, the two types of the joint mechanism are established for the detailed design. Finally, the 2D design is performed using AutoCAD which is a commercial CAD software. The detailed design features are addressed in this paper.

KW - crabster

KW - mechanical design

KW - six-legged

KW - walking robot

UR - https://www.scopus.com/pages/publications/84866649945

U2 - 10.1109/OCEANS-Yeosu.2012.6263402

DO - 10.1109/OCEANS-Yeosu.2012.6263402

M3 - Conference contribution

AN - SCOPUS:84866649945

SN - 9781457720895

T3 - Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

BT - Program Book - OCEANS 2012 MTS/IEEE Yeosu

T2 - OCEANS 2012 MTS/IEEE Yeosu Conference: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities

Y2 - 21 May 2012 through 24 May 2012

ER -

Kim JY, Jun BH. Mechanical design of six-legged walking robot, Little Crabster. In Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities. 2012. 6263402. (Program Book - OCEANS 2012 MTS/IEEE Yeosu: The Living Ocean and Coast - Diversity of Resources and Sustainable Activities). doi: 10.1109/OCEANS-Yeosu.2012.6263402

Mechanical design of six-legged walking robot, Little Crabster

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