Armadillo-inspired wheel-leg retractable module

Kenjiro Tadakuma, Riichiro Tadakuma, Akira Maruyama, Eric Rohmer, Keiji Nagatani, Kazuya Yoshida, Aiguo Ming, Shimojo Makoto, Mitsuru Higashimori, Makoto Kaneko

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

In this paper, a new category of wheel-leg hybrid robot inspired by retracting configuration of the armadillo is presented. The proposed mechanism can compose large wheel diameter compared with the previous hybrid robot to realize high ability to climb obstacles. A prototype model of one Wheel-Leg module of the proposed robot mechanism has been developed to illustrate the concept. Actual design and mode changing experiment with a test mechanical module is also presented. Basic movement tests and the test to see the basic property of the rotational fingertip are also shown.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages610-615
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 2009 Dec 192009 Dec 23

Publication series

Name2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Other

Other2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
CountryChina
CityGuilin
Period09/12/1909/12/23

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Biomaterials

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