期刊
APPLIED SCIENCES-BASEL
卷 11, 期 4, 页码 -出版社
MDPI
DOI: 10.3390/app11041379
关键词
bio-inspired robot; robot mechanism; locomotion; multi-modal; ant structure
类别
资金
- National Research Foundation of Korea (MSIP: Ministry of Science, ICT & Future Planning) [2017R1C1B2005512]
- National Research Foundation of Korea [2017R1C1B2005512] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
This study introduces a new combinable multi-legged modular robot that mimics the structure of ants, enhancing the capability of conventional legged robots and enabling super-organized behavior in multi-robot systems.
This study presents a new combinable multi-legged modular robot that mimics the structures of ants to expand the physical capabilities of the legged robot. To do this, the robot design is focused on exploring a fusion of two robotic platforms, modular and multi-legged, in which both the body frame and the legged structure are designed to be a rectangular prism and a 3-DoF sprawling-type articulated leg structure, respectively. By imitating ants' claws, the hook-link structure of the robot as the coupling mechanism is proposed. This study includes the platform's development, and the experimental work on the locomotion in both single and combined modes is carried out. The result of this study proves that mimicking ants' structure in the proposed robots successfully enhances the capability of the conventional legged robot. It is feasible to use in a multi-robot system to realize ants' super-organized behavior.
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