Kinematic parameter design of a novel compliant field robotic platform for large-obstacle overcoming

Sangho Lee, Jaeneung Choi, Kyungmin Jeong, Taewon Seo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this research, new mechanism robot platform by using energy conversion is suggested for large-obstacle overcoming, named FlipBot-II, which can be used for accidents such as Fukushima nuclear power plant. By changing the potential energy from a compliant pole deflection to the kinetic energy, the robot can jump to overcome an obstacle. The kinematic parameters are optimized to increase the leaping ability. The objective function is selected by the leaping height while the direction of jumping is constrained by the forward direction. The kinematic parameters of the compliant rectangular pole are selected by the design parameters: length, width, and thickness. Based on orthogonal array experimental design, DAFUL simulation is performed to get the maximum leaping height. As a result, the leaping height is increased by 6.2 % from the initial value while the initial value is also found near the optimum by trial and error method. Experimental verification is remained as a future work of this study.

Original languageEnglish
Title of host publicationICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages92-94
Number of pages3
ISBN (Electronic)9788993215090
DOIs
Publication statusPublished - 2015 Dec 23
Event15th International Conference on Control, Automation and Systems, ICCAS 2015 - Busan, Korea, Republic of
Duration: 2015 Oct 132015 Oct 16

Publication series

NameICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings

Other

Other15th International Conference on Control, Automation and Systems, ICCAS 2015
CountryKorea, Republic of
CityBusan
Period15/10/1315/10/16

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Keywords

  • Taguchi method
  • compliant linkage
  • jumping robot
  • level average analysis
  • optimal design

Cite this

Lee, S., Choi, J., Jeong, K., & Seo, T. (2015). Kinematic parameter design of a novel compliant field robotic platform for large-obstacle overcoming. In ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings (pp. 92-94). [7364885] (ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICCAS.2015.7364885