Abstract
Owing to the irregular terrain and microgravity environment of an asteroid, an appropriate locomotion mechanism is required for exploring the asteroid by a robot. In this paper, a ground grip locomotive robot is proposed. One of the most important requirements of the robot is the development of the finger gripping mechanism that can be attached on an uneven surface. To meet this requirement, grip condition and friction characteristics between the finger and the surface need to be understood. Therefore, we conducted an experimental evaluation of gripping characteristics by measuring the coefficients of friction between several types of fingers and simulated grounds. Moreover, the range of possible gripping angles for simulated ground was determined by conditional equations and confirmed by an experiment of gripping the ground using an air-floating system. In this paper, conical shape is shown to be effective for ground grip locomotive robot.
| Original language | English |
|---|---|
| Article number | 7139583 |
| Pages (from-to) | 2822-2827 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 2015-June |
| Issue number | June |
| DOIs | |
| Publication status | Published - 2015 Jun 29 |
| Event | 2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States Duration: 2015 May 26 → 2015 May 30 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering