Multi-Leg System for Aerial Vehicles

Takahiro Doi; Kazunori Miyata; Takamasa Sasagawa; Kenjiro Tadakuma

doi:10.20965/jrm.2012.p0174

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JRM Vol.24 No.1 pp. 174-179

doi: 10.20965/jrm.2012.p0174

(2012)

Paper:

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Multi-Leg System for Aerial Vehicles

Takahiro Doi^*, Kazunori Miyata^**, Takamasa Sasagawa^*,
and Kenjiro Tadakuma^***

^*Department of Robotics, Kanazawa Institute of Technology, 3-1 Yatsukaho, Hakusan, Ishikawa 924-0838, Japan

^**Hirata Corporation, 3-9-20 Togoshi, Sinagawa, Tokyo 142-0041, Japan

^***Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:

April 30, 2011

Accepted:

August 24, 2011

Published:

February 20, 2012

Keywords:

flying robot, landing gear, legged robot

Abstract

The multi-leg system concept for aerial vehicles proposed here is a novel alternative to conventional landing gear and realizes adaptation to undulating terrain, shock absorption, ground-surface gripping, and chassis support after landing. The sections that follow discuss multi-leg system concept, mechanical shock absorption design, simulation, and experimental results.

Cite this article as:

T. Doi, K. Miyata, T. Sasagawa, and K. Tadakuma, “Multi-Leg System for Aerial Vehicles,” J. Robot. Mechatron., Vol.24 No.1, pp. 174-179, 2012.

Data files:

References

[1] S. Grzonka, G. Grisetti, and W. Burgard, “Towards a Navigation System for Autonomous Indoor Flying,” Proc. of 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2878-2883, 2009.
[2] F. Kendoul and K. Nonami, “A Visual Navigation System for Autonomous Flight of Micro Air Vehicles,” The 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3988-3893, 2009.
[3] M. H. Raibert, “Legged Robots That Balance,” The MIT Press.
[4] F. Kikuchi, Y. Ota, and S. Hirose, “Basic Performance Experiments for Jumping Quadruped,” The 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3378-3383, 2003.
[5] K.Miyata, T. Sasagawa, T. Doi, and K. Tadakuma, “A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –,” J. of Robotics and Mechatronics, Vol.23, No.2, pp. 266-270, 2011.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] S. Grzonka, G. Grisetti, and W. Burgard, “Towards a Navigation System for Autonomous Indoor Flying,” Proc. of 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2878-2883, 2009.

[2] [2] F. Kendoul and K. Nonami, “A Visual Navigation System for Autonomous Flight of Micro Air Vehicles,” The 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3988-3893, 2009.

[3] [3] M. H. Raibert, “Legged Robots That Balance,” The MIT Press.

[4] [4] F. Kikuchi, Y. Ota, and S. Hirose, “Basic Performance Experiments for Jumping Quadruped,” The 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3378-3383, 2003.

[5] [5] K.Miyata, T. Sasagawa, T. Doi, and K. Tadakuma, “A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –,” J. of Robotics and Mechatronics, Vol.23, No.2, pp. 266-270, 2011.

Multi-Leg System for Aerial Vehicles

Takahiro Doi*, Kazunori Miyata**, Takamasa Sasagawa*, and Kenjiro Tadakuma***

Takahiro Doi^*, Kazunori Miyata^**, Takamasa Sasagawa^*,
and Kenjiro Tadakuma^***