2A1-J04 A Study on Fast Stair-climbing by Vehicle Using Vibration of 2-DOF System : Demonstration of Hopping and Soft-landing by Hardware

Abstract

In this study, we propose a simple hopping mechanism using the vibration of a 2-DOF system to develop a fast wheel-based stair-climbing and obstacle-leaping robot. The robot consists of two bodies connected by springs and a wire and hops by releasing stored energy in the springs. The trajectories of the bodies during hopping change in accordance with the design parameters. In this paper, we demonstrate fast move, hopping on a step, leaping-over of a cable and their soft-landings using this characteristics.