Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
This paper proposes a passively driven gripping foot that can be attached to any mobile legged robot. The passive mechanism of the gripping foot is developed by a repulsive power of two magnets. By using these magnets, the gripping foot can grip ground objects only the weight of the robot. Also, and the gripping foot is restored to its original position automatically as the robot detaches the gripping foot from objects. To show advantages of the gripping foot, a six-legged robot with the gripping foot is tested in rough terrains and uneven surfaces. The results show an efficiency and an improvement of the robot motion which will be utilized for future research.
