三足可重构球形机器人No.3

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN) Pub Date : 2021-08-08 DOI:10.1109/RO-MAN50785.2021.9515319

Supaphon Kamon, Natthaphon Bunathuek, Pudit Laksanacharoen

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引用次数: 0

摘要

介绍了一种三足可重构球形机器人No.3。机器人的三条腿被固定在两个半球形的外壳内。这三条腿可以通过使用安装在球形核心的线性致动器分裂半球形外壳的上半部分来扩展。每条腿由三个转动关节组成。当三腿着地时，机器人可以完成三腿爬行踢腿行走步态(一腿前，两条腿后)和蝶式行走步态(两条腿前，一条腿后)。该机器人能够在平地上移动，以蝶式步态通过小障碍物，速度分别为5.33 cm/s和1.57 cm/s。对于爬行踢腿步态，机器人的移动速度略快，平地速度为6.15 cm/s，过障速度为1.51 cm/s。

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A Three-Legged Reconfigurable Spherical Robot No.3

A three-legged reconfigurable spherical robot No.3 is presented in this paper. The robot has three legs kept inside the two half hemispherical shells. The three legs can be extended by splitting the top half of the hemispherical shells using a linear actuator installed at the core of the spherical shape. Each leg is consisted of three of revolute joints. When three legs are on ground the robot can perform three legs crawl-kick walking gait (one leg in front and two legs in rear) and butterfly walking gait (two legs in front and one leg in rear). The robot is able to move on flat ground and get over small barrier with butterfly walking gait with the speed of 5.33 cm/s and 1.57 cm/s respectively. For crawl-kick walking gait, the robot can move a little faster with the speed of 6.15 cm/s on flat ground and 1.51 cm/s for crossing barrier.

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来源期刊

2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN)

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