Armadillo-Inspired Wheel-Leg Retractable Module

摘要：

In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and the test to see the basic property of the rotational fingertip are also shown.

作者: Kenjiro TADAKUMA Riichiro TADAKUMA Akira MARUYAMA Eric Rohmer Keiji NAGATANI Aiguo MING Shimojo MAKOTO Mitsuru HIGASHIMORI Makoto KANEKO

作者单位: Department of Mechanical Engineering,Graduate School Engineering,Osaka University

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 610-615

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）