主催: The Institute of Systems, Control and Information Engineers
会議名: 2018 国際フレキシブル・オートメーション・シンポジウム
開催地: Kanazawa Chamber of Commerce and Industry, Kanazawa Japan
開催日: 2018/07/15 - 2018/07/19
p. 467-472
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.
