Six-legged robot capable of climbing various columnar objects

Aoyagi, Ryushi; Homma, Yoshihiro; Ito, Kazuyuki

doi:10.1109/icamechs.2017.8316544

Cited by 3 publications

(5 citation statements)

References 14 publications

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“…In our previous work, we developed a six-legged robot inspired by an octopus [13]. Figure 2 shows the developed robot TAOYAKA.…”

Section: Taoyakamentioning

confidence: 99%

“…is driven by pulling the strings using the motors. Table 1 shows the comparison between the proposed robot and the previous robot (TAOYAKA III [13]). The size and the weight of the proposed robot is about one third of the previous robot.…”

Section: Taoyakamentioning

confidence: 99%

“…However, to realize octopus-like behaviour, the mechanism of these octopus-like robots become more complex than usual soft robots. We also developed a climbing robot TAOYAKA that utilises octopus-like behaviour to grasp various pillars [13]. However, the robot was composed of many aluminium parts, and the size of the robot was big and its mechanism was very complex.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we propose and develop a small soft climbing robot by combining and improving our previous manipulator [17] and previous climbing robot [13]. Almost all the parts of proposed robot are made of silicon and driven by strings.…”

Section: Introductionmentioning

confidence: 99%

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The soft multi-legged robot inspired by octopus: climbing various columnar objects

2020

Self Cite

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In this paper, we develop a soft climbing robot made of silicone. Octopus-like behaviour is realized by a simple mechanism utilizing the dynamics of the soft body, and the robot can grasp various objects of unknown shape. In addition, by inching its truck, it can climb various columnar objects. Experiments using pipes, long balloons, and natural trees are conducted to evaluate the effectiveness of the proposed robot.

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“…In our previous work, we developed a six-legged robot inspired by an octopus [13]. Figure 2 shows the developed robot TAOYAKA.…”

Section: Taoyakamentioning

confidence: 99%

Section: Taoyakamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

The soft multi-legged robot inspired by octopus: climbing various columnar objects

2020

Self Cite

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“…Tianlun and Yangsheng (2011) proposed a patrol robot with six legs to simulate insects. The Kazuyuki Ito team (Ito et al , 2020a, 2020b; Aoyagi et al , 2017; Ito et al , 2020a, 2020b; Eduard et al , 2015) has developed a soft, multilegged robot that imitates an octopus. A new type of climbing robot for the construction of overhead power distribution lines was developed by Allan et al (2010).…”

Section: Introductionmentioning

confidence: 99%

Structure design and optimization of ground moving and pole climbing inspection robot

Zang

et al. 2022

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Purpose The purpose of this paper is to demonstrate a multipurpose inspection robot that can both walk on the ground and climb on poles. The structure design, size optimization, kinematics analysis, experiment and arithmetic of the robot are discussed in the paper. Design/methodology/approach The robot consists of three adjustable modules and a two-degree-of-freedom parallel mechanism in tandem, and the wheel-finger mechanism of each module can realize wheel-finger opening and closing for fast movement and obstacle crossing. This paper uses geometric analysis and simulation analysis to derive size optimization, and vector coordinate method to derive kinematics. Finally, the experiment is carried out by simulating the working environment of the robot. Findings The robot can realize ground walking and ground turning through the robot entity prototype experiment on the built working environment and efficiently realize 0°–90° pole climbing by the assemble design, optimization and machining. In addition, the robot can also smoothly complete the state transition process from 0° ground to 90° pole climbing. Furthermore, the robot shows good environmental self-adaptation and can complete daily inspection work. Originality/value The robot can pitch and yaw at a large angle and has six-legged characteristics. It is a multipurpose inspection robot that can walk on the ground and climb on poles. And through structure design, size optimization, kinematics analysis and simulation, the existing robots’ common shortcomings such as poor barrier-crossing ability and poor environmental adaptability are solved.

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TAOYAKA-S III : Soft multi-legged robot for climbing unknown columnar objects : Realization of self-contained mechanism

Takaku

Mamiya

Ito

2021

2021 International Conference on Advanced Mechatronic Systems (ICAMechS)

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Six-legged robot capable of climbing various columnar objects

Cited by 3 publications

References 14 publications

The soft multi-legged robot inspired by octopus: climbing various columnar objects

The soft multi-legged robot inspired by octopus: climbing various columnar objects

Structure design and optimization of ground moving and pole climbing inspection robot

TAOYAKA-S III : Soft multi-legged robot for climbing unknown columnar objects : Realization of self-contained mechanism

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