Proceedings of the International Symposium on Flexible Automation
Online ISSN : 2434-446X
2018 International Symposium on Flexible Automation
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TRANSFER MOTION ON PLANAR STRUCTURE OF LIMB-MECHANISM ROBOT EQUIPPED WITH ELECTROMAGNETS
Genki SatoMasaru KojimaYasushi MaeTatsuo Arai
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 467-472

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Abstract

Working robots are expected to be applied to work in various environments with complicated 3D structure such as plants and bridges. Such complicated 3D structures include multiple planar surfaces such as floor, wall, and ceiling. Robots are required to move on such environment composed of planar structures. A locomotion working robot ASTERISK with 6 limbs has been developed for moving and working on complicated environments. We developed a new type of ASTERISK whose limb has an electromagnet at the tip. Then it has locomotion ability in anti-gravity situation. We designed a transfer motion between planar surfaces for the ASTERISK. The transfer motion is verified by computer simulation. Furthermore, the motion is implemented to actual ASTERISK. Experimental results show the feasibility of the transfer motion of ASTERISK.

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© 2018 The Institute of Systems, Control and Information Engineers
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