Crawling and Jumping by a Deformable Robot

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Crawling and Jumping by a Deformable Robot
We describe crawling and jumping by a deformable robot. 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 a prototype of a circular soft robot can crawl and jump. Keywords deformation, locomotion, crawl, jump
Yuuta Sugiyama, Shinichi Hirai
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Yuuta Sugiyama, Shinichi Hirai
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