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ICRA
2005
IEEE

Circular/Spherical Robots for Crawling and Jumping

10 years 3 months ago
Circular/Spherical Robots for Crawling and Jumping
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.
Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, S
Added 25 Jun 2010
Updated 25 Jun 2010
Type Conference
Year 2005
Where ICRA
Authors Yuuta Sugiyama, Ayumi Shiotsu, Masashi Yamanaka, Shinichi Hirai
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