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

서지정보

· 발행기관 : 한국로봇학회
· 수록지 정보 : 로봇학회 논문지 / 14권 / 4호 / 270 ~ 277페이지
· 저자명 : 채수환, 백상민, 이종은, 임소정, 유재관, 조용진, 조규진

초록

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.

영어초록

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.

참고자료

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