Transfer motion on planar structure of limb-mechanism robot equipped with electromagnets

Genki Sato; Yasushi Mae; Masaru Kojima; Tatsuo Arai

Transfer motion on planar structure of limb-mechanism robot equipped with electromagnets

Genki Sato, Yasushi Mae, Masaru Kojima, Tatsuo Arai

School of Mechatronical Engineering

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

Abstract

Working robots are expected to be applied to work in various environments with complicated 3D structure such as plants and bridges. Such complicated 3D structures include multiple planar surfaces such as floor, wall, and ceiling. Robots are required to move on such environment composed of planar structures. A locomotion working robot ASTERISK with 6 limbs has been developed for moving and working on complicated environments. We developed a new type of ASTERISK whose limb has an electromagnet at the tip. Then it has locomotion ability in anti-gravity situation. We designed a transfer motion between planar surfaces for the ASTERISK. The transfer motion is verified by computer simulation. Furthermore, the motion is implemented to actual ASTERISK. Experimental results show the feasibility of the transfer motion of ASTERISK.

Original language	English
Publication status	Published - 2018
Event	2018 International Symposium on Flexible Automation, ISFA 2018 - Kanazawa, Japan Duration: 15 Jul 2018 → 19 Jul 2018

Conference

Conference	2018 International Symposium on Flexible Automation, ISFA 2018
Country/Territory	Japan
City	Kanazawa
Period	15/07/18 → 19/07/18

Cite this

@conference{f1e48afb896a4079868a7873a7579d42,

title = "Transfer motion on planar structure of limb-mechanism robot equipped with electromagnets",

abstract = "Working robots are expected to be applied to work in various environments with complicated 3D structure such as plants and bridges. Such complicated 3D structures include multiple planar surfaces such as floor, wall, and ceiling. Robots are required to move on such environment composed of planar structures. A locomotion working robot ASTERISK with 6 limbs has been developed for moving and working on complicated environments. We developed a new type of ASTERISK whose limb has an electromagnet at the tip. Then it has locomotion ability in anti-gravity situation. We designed a transfer motion between planar surfaces for the ASTERISK. The transfer motion is verified by computer simulation. Furthermore, the motion is implemented to actual ASTERISK. Experimental results show the feasibility of the transfer motion of ASTERISK.",

author = "Genki Sato and Yasushi Mae and Masaru Kojima and Tatsuo Arai",

note = "Publisher Copyright: Copyright {\textcopyright} 2018 by ISFA.; 2018 International Symposium on Flexible Automation, ISFA 2018 ; Conference date: 15-07-2018 Through 19-07-2018",

year = "2018",

language = "English",

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TY - CONF

T1 - Transfer motion on planar structure of limb-mechanism robot equipped with electromagnets

AU - Sato, Genki

AU - Mae, Yasushi

AU - Kojima, Masaru

AU - Arai, Tatsuo

PY - 2018

Y1 - 2018

N2 - Working robots are expected to be applied to work in various environments with complicated 3D structure such as plants and bridges. Such complicated 3D structures include multiple planar surfaces such as floor, wall, and ceiling. Robots are required to move on such environment composed of planar structures. A locomotion working robot ASTERISK with 6 limbs has been developed for moving and working on complicated environments. We developed a new type of ASTERISK whose limb has an electromagnet at the tip. Then it has locomotion ability in anti-gravity situation. We designed a transfer motion between planar surfaces for the ASTERISK. The transfer motion is verified by computer simulation. Furthermore, the motion is implemented to actual ASTERISK. Experimental results show the feasibility of the transfer motion of ASTERISK.

AB - Working robots are expected to be applied to work in various environments with complicated 3D structure such as plants and bridges. Such complicated 3D structures include multiple planar surfaces such as floor, wall, and ceiling. Robots are required to move on such environment composed of planar structures. A locomotion working robot ASTERISK with 6 limbs has been developed for moving and working on complicated environments. We developed a new type of ASTERISK whose limb has an electromagnet at the tip. Then it has locomotion ability in anti-gravity situation. We designed a transfer motion between planar surfaces for the ASTERISK. The transfer motion is verified by computer simulation. Furthermore, the motion is implemented to actual ASTERISK. Experimental results show the feasibility of the transfer motion of ASTERISK.

UR - http://www.scopus.com/inward/record.url?scp=85084944947&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:85084944947

T2 - 2018 International Symposium on Flexible Automation, ISFA 2018

Y2 - 15 July 2018 through 19 July 2018

ER -

Transfer motion on planar structure of limb-mechanism robot equipped with electromagnets

Abstract

Conference

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