Continuous Shape Changing Locomotion of 32-legged Spherical Robot

Hiroki Nozaki; Yusei Kujirai; Ryuma Niiyama; Yoshihiro Kawahara; Takuro Yonezawa; Jin Nakazawa

doi:10.1109/IROS.2018.8593791

Continuous Shape Changing Locomotion of 32-legged Spherical Robot

Hiroki Nozaki, Yusei Kujirai, Ryuma Niiyama, Yoshihiro Kawahara, Takuro Yonezawa, Jin Nakazawa

Faculty of Environment and Information Studies

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

12 Citations (Scopus)

Abstract

Shape changing robot is an approach towards locomotion on uncertain terrain due to its omni-directional features. However, the current locomotion method for such robots rely on discontinuous rolling. We propose a free form locomotion: an omni directional continuous crawling for deformable robots. This method introduce continuous shifting of contact surface similar to amoeba movement. A Mochibot that has thirty two telescopic legs is developed to verify the proposed locomotion method. Through the experiments, we have confirmed that the robot can track smooth paths: straight, smooth, and hand written curves. We also evaluate errors between desired and measured trajectories of the robot.

Original language	English
Title of host publication	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2721-2726
Number of pages	6
ISBN (Electronic)	9781538680940
DOIs	https://doi.org/10.1109/IROS.2018.8593791
Publication status	Published - 2018 Dec 27
Event	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain Duration: 2018 Oct 1 → 2018 Oct 5

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Country/Territory	Spain
City	Madrid
Period	18/10/1 → 18/10/5

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS.2018.8593791

Cite this

Nozaki, H., Kujirai, Y., Niiyama, R., Kawahara, Y., Yonezawa, T., & Nakazawa, J. (2018). Continuous Shape Changing Locomotion of 32-legged Spherical Robot. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 2721-2726). Article 8593791 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593791

Continuous Shape Changing Locomotion of 32-legged Spherical Robot. / Nozaki, Hiroki; Kujirai, Yusei; Niiyama, Ryuma et al.
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 2721-2726 8593791 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nozaki, H, Kujirai, Y, Niiyama, R, Kawahara, Y, Yonezawa, T & Nakazawa, J 2018, Continuous Shape Changing Locomotion of 32-legged Spherical Robot. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8593791, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 2721-2726, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 18/10/1. https://doi.org/10.1109/IROS.2018.8593791

Nozaki H, Kujirai Y, Niiyama R, Kawahara Y, Yonezawa T, Nakazawa J. Continuous Shape Changing Locomotion of 32-legged Spherical Robot. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2721-2726. 8593791. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2018.8593791

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abstract = "Shape changing robot is an approach towards locomotion on uncertain terrain due to its omni-directional features. However, the current locomotion method for such robots rely on discontinuous rolling. We propose a free form locomotion: an omni directional continuous crawling for deformable robots. This method introduce continuous shifting of contact surface similar to amoeba movement. A Mochibot that has thirty two telescopic legs is developed to verify the proposed locomotion method. Through the experiments, we have confirmed that the robot can track smooth paths: straight, smooth, and hand written curves. We also evaluate errors between desired and measured trajectories of the robot.",

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AB - Shape changing robot is an approach towards locomotion on uncertain terrain due to its omni-directional features. However, the current locomotion method for such robots rely on discontinuous rolling. We propose a free form locomotion: an omni directional continuous crawling for deformable robots. This method introduce continuous shifting of contact surface similar to amoeba movement. A Mochibot that has thirty two telescopic legs is developed to verify the proposed locomotion method. Through the experiments, we have confirmed that the robot can track smooth paths: straight, smooth, and hand written curves. We also evaluate errors between desired and measured trajectories of the robot.

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Continuous Shape Changing Locomotion of 32-legged Spherical Robot

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