Energy-efficient narrow wall climbing of six-legged robot

Kenichi Ohara; Takeshi Toda; Kazuto Kamiyama; Masaru Kojima; Mitsuhiro Horade; Yasushi Mae; Tatsuo Arai

doi:10.1186/s40648-018-0121-y

Energy-efficient narrow wall climbing of six-legged robot

Kenichi Ohara^*, Takeshi Toda, Kazuto Kamiyama, Masaru Kojima, Mitsuhiro Horade, Yasushi Mae, Tatsuo Arai

^*Corresponding author for this work

School of Mechatronical Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies.

Original language	English
Article number	26
Journal	ROBOMECH Journal
Volume	5
Issue number	1
DOIs	https://doi.org/10.1186/s40648-018-0121-y
Publication status	Published - 1 Dec 2018

Keywords

3D locomotion
Limb mechanism
Narrow space

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10.1186/s40648-018-0121-y

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title = "Energy-efficient narrow wall climbing of six-legged robot",

abstract = "In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies.",

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author = "Kenichi Ohara and Takeshi Toda and Kazuto Kamiyama and Masaru Kojima and Mitsuhiro Horade and Yasushi Mae and Tatsuo Arai",

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AU - Ohara, Kenichi

AU - Toda, Takeshi

AU - Kamiyama, Kazuto

AU - Kojima, Masaru

AU - Horade, Mitsuhiro

AU - Mae, Yasushi

AU - Arai, Tatsuo

PY - 2018/12/1

Y1 - 2018/12/1

N2 - In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies.

AB - In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies.

KW - 3D locomotion

KW - Limb mechanism

KW - Narrow space

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SN - 2197-4225

VL - 5

JO - ROBOMECH Journal

JF - ROBOMECH Journal

IS - 1

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ER -

Energy-efficient narrow wall climbing of six-legged robot

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Keywords

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