Circular/Spherical Robots for Crawling and Jumping
Authors:
- A. ShiotsuASA. Shiotsu
- M. YamanakaMYM. Yamanaka
- S. HiraiS. Hirai
- 18 January 2006
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- No. 10504729,p. 3595-3600
Abstract
We describe circular/spherical robots for crawling and jumping. Locomotion over rough terrain has been achieved mainly by rigid body systems including crawlers and leg mechanisms. This paper presents an alternative method of moving over rough terrain, one that employs deformation. First, we describe the principle of crawling and jumping as performed through deformation of a robot body. Second, in a physical simulation, we investigate the feasibility of the approach. Next, we show experimentally that prototypes of a circular robot and a spherical robot can crawl and jump.Keywords
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