| Volume 25 Issue 5/6 - Publication Date: 1 May/June 2006 |
| Special Issue on the Ninth International Symposium
on Experimental Robotics, 2004 |
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| Crawling and Jumping by a Deformable
Robot |
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| Y. Sugiyama and S.
Hirai Department of Robotics. Ritsumeikan University, Kusatsu, Shiga
525-8577, Japan |
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| We describe crawling and jumping by a soft
robot. Locomotion over rough terrain has been achieved mainly by rigid body
systems including crawlers and leg mechanisms. This paper presents an alternative
method, one that employs deformation. |
| First, we describe the principle
of crawling and jumping as performed through deformation of a robot body.
Second, in a physical simulation, we investigate the feasibility of the
approach. Next, we show experimentally that a prototype of a circular soft
robot can crawl and jump. Finally, we describe crawling and jumping performed
by a spherical deformable robot. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
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1 |
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Example
1: Simulation of circular soft robot jumping at bending elasticity
kbend = 0.0105 Nm/rad. (1.2 MB) |
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2 |
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Example
2: Simulation of circular soft robot jumping at bending elasticity
kbend = 0.0107 Nm/rad. (0.7 MB) |
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3 |
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Example
3: A circular soft robot crawling on a flat ground. (2.2 MB) |
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4 |
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Example
4: A circular soft robot climbing a 20° slope. (2.5 MB) |
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5 |
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Example
5: A circular soft robot jumping. (6.0 MB) |
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6 |
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Example
6: A spherical soft robot climbing a 10° slope. (7.9 MB) |
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7 |
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Example
7: A spherical soft robot jumping. (7.5 MB) |
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