DOI: 10.1109/iccas.2015.7364885
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Abstract: In this research, new mechanism robot platform by using energy conversion is suggested for large-obstacle overcoming, named FlipBot-TT, which can be used for accidents such as Fukushima nuclear power plant. By changing the potential energy from a compliant pole deflection to the kinetic energy, the robot can jump to overcome an obstacle.The kinematic parameters are optimized to increase the leaping ability. The objective function is selected by the leaping height while the direction of jumping is constrained …

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