This paper proposes a passively driven gripping foot that can be attached to any mobile legged robot without intervening in the robot’s controller. In rough terrains with uneven slope surfaces, it is often difficult to move by a legged robot having normal flat foot. One idea is to give a gripping functionality onto foot and grasp ground to establish firm contact. However, grasping at appropriate timing to contact to the ground usually needs coordinated control with the robot’s gait and externally powered open/close movement of the gripper. This prohibits easy installation of this type of gripping foot onto existing legged robot. To this problem, we propose a gripping foot that automatically grasps ground by the robot’s weight when the robot put its foot onto ground and opens when the robot raises its foot. By this, any legged robot will be able to attach this foot as a shoe, and the robot has an ability to walk under rough terrains. The mechanism of the grasping foot uses a simple linkage to transfer the gravitational force into appropriate side gripping force. By the experiments conducted on a slope with sand and small rocks by a six-legged robot attached with this foot, it was shown that the proposed mechanism could achieve forward climbing movement while the robot with a bare flat foot could not move forward.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Passive Gripping Foot for a Legged Robot to Move Over Rough Terrain


    Weitere Titelangaben:

    Lect. Notes in Networks, Syst.


    Beteiligte:
    Chugo, Daisuke (Herausgeber:in) / Tokhi, Mohammad Osman (Herausgeber:in) / Silva, Manuel F. (Herausgeber:in) / Nakamura, Taro (Herausgeber:in) / Goher, Khaled (Herausgeber:in) / Hakamada, Sho (Autor:in) / Mikami, Sadayoshi (Autor:in)

    Kongress:

    Climbing and Walking Robots Conference ; 2021 August 30, 2021 - September 01, 2021



    Erscheinungsdatum :

    2021-09-04


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Passive Gripping Foot for a Legged Robot to Move Over Rough Terrain

    Hakamada, Sho / Mikami, Sadayoshi | TIBKAT | 2022


    Enhancing Legged Robot Navigation of Rough Terrain via Tail Tapping

    Soto, Daniel / Diaz, Kelimar / Goldman, Daniel I. | TIBKAT | 2022


    FOOT FOR LEGGED ROBOT

    GÜNTHER FABIAN / SEKANINA DAVID / VIJAYAN ARAVIND ELANJIMATTATHIL et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    All-terrain wheel-legged robot

    YANG ZIZHAO / HE LEIBO / ZHANG ZHIHAO et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Parallel double-foot legged robot

    YUAN LI / GUO ZIHAN | Europäisches Patentamt | 2024

    Freier Zugriff