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

Genki Sato, Yasushi Mae, Masaru Kojima, Tatsuo Arai

科研成果: 会议稿件论文同行评审

1 引用 (Scopus)

摘要

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.

源语言英语
出版状态已出版 - 2018
活动2018 International Symposium on Flexible Automation, ISFA 2018 - Kanazawa, 日本
期限: 15 7月 201819 7月 2018

会议

会议2018 International Symposium on Flexible Automation, ISFA 2018
国家/地区日本
Kanazawa
时期15/07/1819/07/18

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引用此

Sato, G., Mae, Y., Kojima, M., & Arai, T. (2018). Transfer motion on planar structure of limb-mechanism robot equipped with electromagnets. 论文发表于 2018 International Symposium on Flexible Automation, ISFA 2018, Kanazawa, 日本.