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A Milli-Scale Jumping Trajectory Adjustable Mechanism and Its Application to Jumping-Crawling Robot : 복합거동 로봇을 위한 궤적제어가 가능한 소형 도약 메커니즘
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- Authors
- Advisor
- 조규진
- Major
- 공과대학 기계항공공학부
- Issue Date
- 2016-02
- Publisher
- 서울대학교 대학원
- Keywords
- multi-modal locomotion ; jumping-crawling robot ; jumping robot
- Description
- 학위논문 (박사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 2. 조규진.
- Abstract
- Recently, researchers have been concerned on integrated locomotion modes over a single locomotion, which is called multi-modal locomotion. This multi-modal locomotion in milli-scale robots have been developed in a way that reduces cost of transport (CoT) or expands movable domain. In this paper, we propose a trajectory-adjustable integrated jumping-crawling robot to increase obstacle overcoming ability of the crawler. To this end, a novel jumping module is developed in two directions: large energy storing capacity and height-adjustable active trigger. To increase energy storing capacity, combination of a linear type and torsional type energy storages have been employed. This combined energy storage enables the jumping module to store the elastic energy as much as possible with limited loading force. Also, knee-like rolling joints are applied to utilize large displacement of the elastic material. To release the stored energy at any state, an active trigger based on a single DC motor is newly proposed, which enables the robot to control take-off speed of jumping. The developed jumping module is integrated with a lightweight crawler, Dash. The integrated jumping-crawling robot weighs 59.4 g and controls moving trajectory by adjusting crawling and take-off speed.
- Language
- English
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