TY - GEN
T1 - An Investigation on Shape of Leg for Small Leg Typed Rovers with a Function of Vibration Propagation
AU - Watanabe, Tomohiro
AU - Kuronuma, Shigeru
AU - Iizuka, Kojiro
N1 - Publisher Copyright:
© 2021, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2021
Y1 - 2021
N2 - In recent years, the leg typed robots are focused on as a small exploration rover. However, it is difficult to walk on the loose ground for these rovers. Our research group was proposed walking method using vibration for improving running performance of small leg typed rover. In this research, the shape of leg which is suitable for the walking method using vibration is proposed. By improving about the shape of leg, it is considered that the changes of the ground when vibration gives to the ground can be lager. The shape of leg that it is easy to increase sinkage to the ground was proposed in order to increase passive earth pressure. The experiment which measures sinkage and passive earth pressure was carried out using proposed shapes of leg. From the result of experiment, it was confirmed that sinkage of the leg to the ground and passive earth pressure were increased using shape of leg which reduces surface which touches the ground. The reason is that force which is given to the ground is not spread using this shape. Next, the slope walking experiment was carried out using testbed. Moreover, slip rate of testbed was reduced by about 23% using proposed shape of leg. Therefore, it was confirmed that moving performance of small leg typed rovers is improved by improving the shape of leg.
AB - In recent years, the leg typed robots are focused on as a small exploration rover. However, it is difficult to walk on the loose ground for these rovers. Our research group was proposed walking method using vibration for improving running performance of small leg typed rover. In this research, the shape of leg which is suitable for the walking method using vibration is proposed. By improving about the shape of leg, it is considered that the changes of the ground when vibration gives to the ground can be lager. The shape of leg that it is easy to increase sinkage to the ground was proposed in order to increase passive earth pressure. The experiment which measures sinkage and passive earth pressure was carried out using proposed shapes of leg. From the result of experiment, it was confirmed that sinkage of the leg to the ground and passive earth pressure were increased using shape of leg which reduces surface which touches the ground. The reason is that force which is given to the ground is not spread using this shape. Next, the slope walking experiment was carried out using testbed. Moreover, slip rate of testbed was reduced by about 23% using proposed shape of leg. Therefore, it was confirmed that moving performance of small leg typed rovers is improved by improving the shape of leg.
KW - Loose soil
KW - Small leg typed rover
KW - Vibration
UR - http://www.scopus.com/inward/record.url?scp=85113764521&partnerID=8YFLogxK
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U2 - 10.1007/978-981-16-4803-8_2
DO - 10.1007/978-981-16-4803-8_2
M3 - Conference contribution
AN - SCOPUS:85113764521
SN - 9789811648021
T3 - Lecture Notes in Mechanical Engineering
SP - 11
EP - 21
BT - RiTA 2020 - Proceedings of the 8th International Conference on Robot Intelligence Technology and Applications
A2 - Chew, Esyin
A2 - P. P. Abdul Majeed, Anwar
A2 - Liu, Pengcheng
A2 - Platts, Jon
A2 - Myung, Hyun
A2 - Kim, Junmo
A2 - Kim, Jong-Hwan
PB - Springer Science and Business Media Deutschland GmbH
T2 - 8th International Conference on Robot Intelligence Technology and Applications, RiTA 2020
Y2 - 11 December 2020 through 13 December 2020
ER -