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Effect of Leg Stiffness on the Running Performance of Milli-Scale Six-Leg Crawling Robot with Payload
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소형 6족 주행 로봇의 페이로드와 다리 강성이 로봇의 주행 성능에 미치는 영향

논문 기본 정보

Type
Academic journal
Author
Soo-Hwan Chae (서울대학교) Sang-Min Baek (서울대학교) Jongeun Lee (서울대학교) Sojung Yim (서울대학교) Jae-Kwan Ryu (LIG넥스원) Yong-Jin Jo (LIG넥스원) Kyu-Jin Cho (서울대학교)
Journal
Journal of Korea Robotics Society The Journal of Korea Robotics Society Vol.14 No.4 KCI Accredited Journals
Published
2019.12
Pages
270 - 277 (8page)

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Effect of Leg Stiffness on the Running Performance of Milli-Scale Six-Leg Crawling Robot with Payload
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Inspired by small insects, which perform rapid and stable locomotion based on body softness and tripod gait, various milli-scale six-legged crawling robots were developed to move rapidly in harsh environment. In particular, cockroach’s leg compliance was resembled to enhance the locomotion performance of the crawling robots. In this paper, we investigated the effects of changing leg compliance for the locomotion performance of the small light weight legged crawling robot under various payload condition. First, we developed robust milli-scale six-leg crawling robot which actuated by one motor and fabricated in SCM method with light and soft material. Using this robot platform, we measured the running velocity of the robot depending on the leg stiffness and payload. In result, there was optimal range of the leg stiffness enhancing the locomotion ability at each payload condition in the experiment. It suggests that the performance of the crawling robot can be improved by adjusting stiffness of the legs in given payload condition.
#Bio-inspired #Six-Leg Crawling #Compliance #Leg Stiffness #Payload

Contents

Abstract
1. 서론
2. 설계
3. 제작
4. 실험 과정
5. 결과 및 고찰
6. 결론
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UCI(KEPA) : I410-ECN-0101-2020-559-001256144