Development of ASURA I: Harvestman-like hexapod walking robot &amp;#x2014; Approach for long-legged robot and leg mechanism design

Hodoshima, Ryuichi; Watanabe, Soichiro; Nishiyama, Yuki; Sakaki, Akihiro; Ohura, Yoshikazu; Kotosaka, Shinya

doi:10.1109/iros.2013.6697028

Cited by 11 publications

(8 citation statements)

References 13 publications

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“…This renders them a very attractive model for biomimetic engineering of underactuated robotic devices, such as surgical probes, grippers and transportation systems. To date, harvestman locomotion has drawn the interest of robotic engineers because of their outstanding manoeuvrability in complex terrain (Hodoshima et al, 2016(Hodoshima et al, , 2013. However, so far these studies have focused on body to leg length ratios and have omitted the most interesting aspects of harvestman locomotion based on tarsus flexibility.…”

Section: Discussionmentioning

confidence: 99%

Traction reinforcement in prehensile feet of harvestmen (Arachnida, Opiliones)

Wolff

Wiegmann

Wirkner

et al. 2018

Journal of Experimental Biology

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Prehensile and gripping organs are recurring structures in different organisms that enhance friction by the reinforcement and redirection of normal forces. The relationship between organ structure and biomechanical performance is poorly understood, despite a broad relevance for microhabitat choice, movement ecology and biomimetics. Here, we present the first study of the biomechanics of prehensile feet in long-legged harvestmen. These arachnids exhibit the strongest subdivision of legs among arthropods, permitting extreme hyperflexion (i.e. curling up the foot tip). We found that despite the lack of adhesive foot pads, these moderately sized arthropods are able to scale vertical smooth surfaces, if the surface is curved. Comparison of three species of harvestmen differing in leg morphology shows that traction reinforcement by foot wrapping depends on the degree of leg subdivision , not leg length. Differences are explained by adaptation to different microhabitats on trees. The exponential increase of foot section length from distal to proximal introduces a gradient of flexibility that permits adaptation to a wide range of surface curvature while maintaining integrity at strong flexion. A pulley system of the claw depressor tendon ensures the controlled flexion of the high number of adesmatic joints in the harvestman foot. These results contribute to the general understanding of foot function in arthropods and showcase an interesting model for the biomimetic engineering of novel transportation systems and surgical probes.

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Section: Discussionmentioning

confidence: 99%

Traction reinforcement in prehensile feet of harvestmen (Arachnida, Opiliones)

Wolff

Wiegmann

Wirkner

et al. 2018

Journal of Experimental Biology

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“…δ is the movements when the leg is raised up. Force exerted by the joint can obtain by (14) and (15). The initial design specification of the Giacometti robot is expected to support overall weight and payload up to 4 kg (40 N) which requires each leg to support at least F N = 13.33 N. By inserting F N in (13), the required amount of F muscle needed is 71.2 N. Based on the characteristics of the actuator in Fig.…”

Section: Selection Of Actuators Lengthmentioning

confidence: 99%

“…Harvestman is known for its long and thin structure where the legs will have special characteristics of elastic deformation from its low stiffness leg structure as one of its attractive features. Previous work of R. Hodoshima and S. Hirose proposed ASURA I [15] and KUMO-I [16] respectively which imitate the harvestman by having long slender rigid legs relative to its body. Although the study proves that it is possible for smaller diameter of leg size to drive a bigger structure robot, it has limited motion and suffers from poor back drivability due to its weight.…”

Section: Introductionmentioning

confidence: 99%

Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Faudzi

Endo

Kurumaya

et al. 2018

IEEE Robot. Autom. Lett.

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This letter introduces a lightweight hexapod robot, Giacometti robot, made with long and narrow legs following the Alberto Giacometti's sculpture conception. The goal is achieved by, first, using multiple links with thin and soft McKibben actuators, and second, choosing a leg design which is narrow in comparison to its body's length and height, unlike conventional robot design. By such design characteristic, the leg will exhibit elastic deformations due to the low stiffness property of the thin link structure. Then, we model the leg structure and conduct the deflection analysis to confirm the capability of the leg to perform walking motion. The high force to weight ratio characteristics of the actuator provided the ability to drive the system, as shown by a static model and further validated experimentally. To compensate for the high elastic structural flexibility of the legs, two walking gaits namely customized Wave gait and Giacometti gait were introduced. The robot could walk successfully with both gaits at maximum speed of 0.005 and 0.05 m/s, respectively. It is envisaged that the lightweight Giacometti robot design can be very useful in legged robotic exploration.

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“…Joints of L i are described with respect to f L A i g as shown in equations (15) to (20), which are functions of q B i , d AB i , and d BC i , representing the joint variables involved in cases 1, 2, and 3. They were obtained by means of direct kinematics…”

Section: Direct Kinematic Analysismentioning

confidence: 99%

Hexapod with legs based on Peaucellier–Lipkin mechanisms

Juárez-Campos

Núñez-Altamirano

Márquez-Pérez

et al. 2018

International Journal of Advanced Robotic Systems

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This article describes the way in which six nontraditional legs collaborate to provide locomotion to a walking machine when it moves along a path. Such legs are based on the one-degree-of-freedom Peaucellier-Lipkin mechanism, which was modified by the addition of four degrees of freedom. Such five-degree-of-freedom legs have the ability to adapt their postures according to the center of rotation around of which the machine walks. The attributes and abilities of the hexapod are expressed by means of a mathematical framework, which grants the spatial description and required joint variables, according to a specific task, resulting in the configuration of its legs for a particular path planning. Additionally, the article presents an illustrative example describing a detailed procedure concerning the configurations and collaboration of their legs according to an imposed center of rotation around of which the six-legged robot walks.

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Development of ASURA I: Harvestman-like hexapod walking robot — Approach for long-legged robot and leg mechanism design

Cited by 11 publications

References 13 publications

Traction reinforcement in prehensile feet of harvestmen (Arachnida, Opiliones)

Traction reinforcement in prehensile feet of harvestmen (Arachnida, Opiliones)

Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Hexapod with legs based on Peaucellier–Lipkin mechanisms

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