The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2007
Session ID : 2A1-J03
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2A1-J03 A Study on Fast Stair Climbing by Vehicle using Vibration of 2-DOF System : Search of Design Parameters by a Genetic Algorithm
Yasuhiro CHIBAYuji ASAINaoki BUSHIDAKeisuke SAKAGUCHIKohki KIKUCHITakayuki SUDO
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Abstract
In this study, we propose a simple hopping mechanism using vibration of a two-degrees-of-freedom system for a wheel-based hopping robot. The robot, consisting of two bodies connected by spring and a wire, hops by releasing stored energy in the springs and quickly travels using wheels mounted in its lower body. The trajectories of the bodies during hopping change in accordance with the design parameters such as the mass of lower body and the mass of upper body and initial contraction of the spring, the spring constant. This property allows fast movement, hopping up and down steps, leaping over a cable and soft landing. In this paper, the design parameters that perform soft-landing are investigated by a genetic algorithm.
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© 2007 The Japan Society of Mechanical Engineers
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