Multi-legged adaptable crawler capable of maintaining a constant pose locomotion over rugged terrain

Multi-legged adaptable crawler capable of maintaining a constant pose locomotion over rugged terrain

Blog Article

In this paper, we introduce practical design and hardware implementation issues of an adaptable crawler mechanism for a mobile robot, enabling it Laundry Station Remover to maintaining its constant desired pose when moving.For this purpose, a novel multi-legged adaptable crawler (MLAC) prototype is proposed by utilizing a spring and a rack-and-pinion unit.More specifically, the MLAC prototype allows changing of the crawler configuration in order to adapt to a local surface topology.When the MLAC prototype is mounted under the mobile robot, even though the robot might encounter ascending/descending slopes and thresholds, the mechanism allows it to preserve its locomotive pose continuously.

The design and performance of the MLAC prototype is explained in detail.As a result, the effectiveness of the crawler was verified through Generators extensive experiments.Although the robot equipped with the proposed crawler encountered ascending/descending slopes and thresholds, it could preserve its desired locomotive pose continuously.Moreover, we investigated the technical features by comparing the proposed crawler and a typical crawler through experiments.