The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Effect of Leg Stiffness on the Running Performance of Milli-Scale Six-Leg Crawling Robot with Payload

소형 6족 주행 로봇의 페이로드와 다리 강성이 로봇의 주행 성능에 미치는 영향

  • Chae, Soo-Hwan (Mechanical and Aerospace Engineering, Seoul National University) ;
  • Baek, Sang-Min (Mechanical and Aerospace Engineering, Seoul National University) ;
  • Lee, Jongeun (Mechanical and Aerospace Engineering, Seoul National University) ;
  • Yim, Sojung (Mechanical and Aerospace Engineering, Seoul National University) ;
  • Ryu, Jae-Kwan (Unmanned/Robotic Systems Lab. LIG Nex1) ;
  • Jo, Yong-Jin (Unmanned/Robotic Systems Lab. LIG Nex1) ;
  • Cho, Kyu-Jin (Mechanical and Aerospace Engineering, Institute of Advanced Machines and Design, Seoul National University)
  • Received : 2019.09.09
  • Accepted : 2019.10.13
  • Published : 2019.11.30
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Abstract

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.

Keywords

References

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