IROS 2015 Paper Abstract


Paper ThDT9.1

Aoki, Takeshi (Chiba Institute of Technology), Ito, Satoshi (Chiba Institute of Technology), Sei, Yosuke (Chiba institute of technology)

Development of Quadruped Walking Robot with Spherical Shell -Mechanical Design for Rotational Locomotion

Scheduled for presentation during the Regular session "Legged Robots 3" (ThDT9), Thursday, October 1, 2015, 14:00−14:15, Saal B2

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on October 16, 2021

Keywords Legged Robots, Field Robots, Search and Rescue Robots


We have proposed and developed a new quadruped walking robot with a spherical shell, called "QRoSS". QRoSS is a transformable robot that can store its legs in the spherical shell. The shell not only absorbs external forces from all directions, but also improves mobile performance because of its round shape. In rescue operations at a disaster site, carrying robots into a site is dangerous for operators because doing so may result in a second accident. If QRoSS is used, instead of carrying robots in, they are thrown in, making the operation safe and easy. We developed QRoSS-I and conducted basic experiments to verify performance which includes landing, rising and walking through a series of movements. This paper reports details of a mechanical design to perform a rotational locomotion using spherical shell and development of the prototype model of QRoSS-II. We discuss the rising motion and the rotational locomotion from the results of basic experiments.



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