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Please use this identifier to cite or link to this item: http://hdl.handle.net/10445/8458

Title: Prismatic Omni-Directional Legged Machine for Rough Environment Movement by a Simple Mechanical Drive
Authors: MIKAMI, Sadayoshi
Fukuda, Tomohisa
Igarashi, Ayano
SUZUKI, Sho'ji
Abstract: A legged robot is one of the ideal mechanisms for moving around muddy, irregular, and fragile surfaces. However, a legged robot will easily be unable to move if its body is turned over. Some robots have special mechanisms for recovery. But having extra mechanisms may increase possibilities of malfunction. Our approach is to make a robot that has legs around its body so that it never turns over. Also our idea is to drive these legs synchronously by a set of gears and links so that it performs the same gait to the same moving direction. We found that this is possible for any prismatic bodies that have side surfaces of a multiple of four. In this paper we demonstrate this by some examples of four side surfaces configurations.
Research Achievement Classification: 国際会議/International Conference
Type: Conference Paper
Peer Review: あり/yes
Solo/Joint Author(s): 共著/joint
Published journal or presented
academic conference: 
13th International Conference on Control, Automation, Robotics and Vision
Spage: Fr43.4
Date: 10-Dec-2014
Appears in Collections:MIKAMI, Sadayoshi

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