가변길이 엔드팁을 갖는 원추형 스프링을 이용한 도약로봇의 이동성 향상Mobility Improvement of a Jumping Robot using Conical Spring with Variable Length Endtip
- Other Titles
- Mobility Improvement of a Jumping Robot using Conical Spring with Variable Length Endtip
- Authors
- 김기석; 김병상; 송재복; 임충혁
- Issue Date
- 2009
- Publisher
- 제어·로봇·시스템학회
- Keywords
- jumping mechanism; nut-screw mechanism; conical spring; clutch mechanism; jumping robot
- Citation
- 제어.로봇.시스템학회 논문지, v.15, no.11, pp.1108 - 1114
- Indexed
- SCOPUS
KCI
- Journal Title
- 제어.로봇.시스템학회 논문지
- Volume
- 15
- Number
- 11
- Start Page
- 1108
- End Page
- 1114
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/121751
- ISSN
- 1976-5622
- Abstract
- Mobility is one of the most important features for a guard robot since it should be operated in rough places. A wheel-based mobile robot capable of jumping is an appropriate structure for a guard robot because it can easily satisfy the requirements for small guard robots. The jumping robot can reach a higher place more rapidly than other locomotion methods. This research proposes a small robot equipped with the jumping mechanism based on the conical spring with the variable length endtip. The variable length endtip enables the independent control of the jump force and jump angle which are related to the jump height and jump distance, respectively. Various experiments demonstrated that the proposed jumping mechanism can provide the independent control of jump force and jump angle, and improve the mobility of a small robot to overcome an obstacle. Furthermore, a combination of the jumping mechanism and the PSD sensor to measure the distance to the step enable the jumping robot to autonomously climb stairs.
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Collections - College of Engineering > Department of Mechanical Engineering > 1. Journal Articles
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