TAOYAKA V: a multi-legged robot, successfully combining walking and climbing mechanisms

Ito, Kazuyuki; Ninomiya, Yamato

doi:10.1007/s10015-020-00621-7

Cited by 7 publications

(4 citation statements)

References 10 publications

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“…In 2021, Kazuyuki Ito et al of Japan developed a robot that could climb a variety of columnar objects. This robot could walk on the ground reliably and could flexibly adapt to pipes of various diameters [18]. These research results provide reference and reference for the development of detection robots.…”

Section: Introductionmentioning

confidence: 71%

Development and Experiment of Clamp Type Submarine Cable Inspection Robot

Wang

Zhang

2023

Machines

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Relying on the research and development project of an auxiliary device for a submarine cable to cross a steel pipeline, with regard to a long-distance submarine cable crossing a pipeline, combined with a pipe-climbing robot and the laying of the submarine cable, this paper developed a detection robot that walks along the outer wall of the cable inside the submarine casing. The non-enclosed four-bar linkage mechanism is adopted, a stepper motor is used to drive a roller to walk on the submarine cable, the diameter change of the submarine cable is recorded in real-time, the damage of the submarine cable is detected when it is moved along the submarine cable, and the walking experiment is carried out. The submarine cable diameter measurement verification experiment showed that the outer wall detection robot of the submarine cable could stably travel on the submarine cable, and at the same time, could measure the real-time diameter of the submarine cable and record the actual condition of the submarine cable through video.

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Section: Introductionmentioning

confidence: 71%

Development and Experiment of Clamp Type Submarine Cable Inspection Robot

Wang

Zhang

2023

Machines

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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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“…The climbing robots mentioned above showed good climbing performance on different surfaces, but none of them have been designed taking into consideration the effects of high wind on the stability of the robots. When subjected to high wind, climbing robots inevitably generate a normal overturning force that makes it difficult to maintain stability, resulting in deteriorated climbing performance [ 24 , 25 , 26 ]. Thus, improving the wind resistance of climbing robots is key to enabling them to work stably in high winds.…”

Section: Introductionmentioning

confidence: 99%

Wind Resistance Mechanism of an Anole Lizard-Inspired Climbing Robot

Feng

Yan

et al. 2022

Sensors

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The stable operation of climbing robots exposed to high winds is of great significance for the health-monitoring of structures. This study proposes an anole lizard-like climbing robot inspired by its superior wind resistance. First, the stability mechanism of the anole lizard body in adhesion and desorption is investigated by developing adhesion and desorption models, respectively. Then, the hypothesis that the anole lizard improves its adhesion and stability performance through abdominal adjustment and trunk swing is tested by developing a simplified body model and kinematic model. After that, the structures of the toe, limb, and multi-stage flexible torso of the anole lizard-like climbing robot are designed. Subsequently, the aerodynamic behavior of the proposed robot under high-speed airflow are investigated using finite element analysis. The results show that when there is no obstacle, the climbing robot generates the normal force to enhance toepad friction and adhesion by tuning the abdomen’s shape to create an air pressure difference between the back and abdomen. When there is an obstacle, a component force is obtained through periodic oscillation of the spine and tail to resist the frontal winds resulting from the vortex paths generated by the airflow behind the obstacle. These results confirm that the proposed hypothesis is correct. Finally, the adhesion and wind resistance performance of the anole lizard-like climbing robot is tested through the developed experimental platform. It is found that the adhesion force is equal to 50 N when the pre-pressure is 20 N. Further, it is shown that the normal pressure of the proposed robot can reach 76.6% of its weight in a high wind of 14 m/s.

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TAOYAKA V: a multi-legged robot, successfully combining walking and climbing mechanisms

Cited by 7 publications

References 10 publications

Development and Experiment of Clamp Type Submarine Cable Inspection Robot

Development and Experiment of Clamp Type Submarine Cable Inspection Robot

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

Wind Resistance Mechanism of an Anole Lizard-Inspired Climbing Robot

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