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보행과 점핑이 가능한 소형 4족 로봇의 개발 (Development of a Mesoscale Quadruped Robot that can crawl and jump)
Abstract :
This thesis describes the design, simulation and experiments of mesoscale quadruped robot that can crawl and jump. The robot uses eight micro servo motors for crawling and four DC motors for jumping. Width, length and height of the robot are and its weight is 188g that includes battery and circuit. The robot uses crawling and jumping to for its hybrid locomotion. For simulation of the robot performance, Recurdyn 3D is used. In experiments, the robot prototype is used and the experiments consists of three basic motions; crawling with steering, consecutive jumping, combined motion that consists of crawling and jumping. As simulation result, crawl speed of the robot is and jumping height and distance are and . In experiments, crawling speed of the robot is 1.51cm/s and jumping height and distance are 5cm and 9cm. The behavior of robot prototype is very close to that of the simulation model. The experimental result approaches 91% of the simulation result on crawling and 77% on jumping.
