The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2022
Session ID : 2A2-F01
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Host: The Japan Society of Mechanical Engineers

Name : [in Japanese]

Date : June 01, 2022 - June 04, 2022

Proposal of Dynamic Motion in Rocker-Bogie Mechanism Using SEA
Sota YOKOYAMA, *Ikuo MIZUUCHI, Tomoki AZUMA, Kazuyuki YAMANAKA
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Keywords: Wheeled Mobile Robot, Step Climbing, Physical Elasticity
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Abstract

In this paper, a rocker-bogie mechanism equipped with SEA (series elastic actuator) is used to step oversteps by performing the dynamic motion. High kinetic performance can be expected by storing the kinetic energy of the motor as elastic energy of the spring and releasing it at the appropriate timing. a rocker-bogie mechanism equipped with SEA was fabricated, and stepping over steps utilizing elasticity experimented.

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© 2022 The Japan Society of Mechanical Engineers
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