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DC Field | Value | Language |
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dc.citation.endPage | 367 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 356 | - |
dc.citation.title | JOURNAL OF BIONIC ENGINEERING | - |
dc.citation.volume | 15 | - |
dc.contributor.author | Kwak, Bokeon | - |
dc.contributor.author | Bae, Joonbum | - |
dc.date.accessioned | 2023-12-21T21:07:05Z | - |
dc.date.available | 2023-12-21T21:07:05Z | - |
dc.date.created | 2018-05-09 | - |
dc.date.issued | 2018-03 | - |
dc.description.abstract | In this paper, a rotational leg-type miniature robot with a bioinspired actuated middle joint and a tail is proposed for stable locomotion and improved climbing ability. The robot has four independently actuated rotational legs, giving it advantages of both wheel-type and leg-type locomotion. The design parameters of the rotational legs were determined by 3D simulation within the seven candidates that selected by a newly proposed metric. It also has unique characteristics inspired by biological structures: a middle joint and a tail. An actuated middle joint allows the frontal body to be lifted or lowered, which was inspired by a flexible body joint of animals, to climb higher obstacles. Effectiveness of the middle joint was analytically verified by the geometric analysis of the robot. Additionally, a multi-functional one Degree Of Freedom (1-DOF) tail was added; the tail prevented the body being easily flipped, while allowed the robot to climb higher obstacles. A bristle-inspired micro structure was attached to the tail to enhance straightness of locomotion. Body size of the robot was 158 mm x 80 mm x 85 mm and weighed 581 g including a 7.4 V Li-Polymer battery. The average velocity of the robot was 2.74 m.s(-1) (17.67 body lengths per second) and the maximum height of an obstacle that the robot could climb was 106 mm (2.5 times of leg length), which all were verified by experiments. | - |
dc.identifier.bibliographicCitation | JOURNAL OF BIONIC ENGINEERING, v.15, no.2, pp.356 - 367 | - |
dc.identifier.doi | 10.1007/s42235-018-0027-7 | - |
dc.identifier.issn | 1672-6529 | - |
dc.identifier.scopusid | 2-s2.0-85044366025 | - |
dc.identifier.uri | https://scholarworks.unist.ac.kr/handle/201301/24084 | - |
dc.identifier.url | https://link.springer.com/article/10.1007%2Fs42235-018-0027-7 | - |
dc.identifier.wosid | 000428289600013 | - |
dc.language | 영어 | - |
dc.publisher | SCIENCE PRESS | - |
dc.title | Design and Analysis of a Rotational Leg-type Miniature Robot with an Actuated Middle Joint and a Tail (RoMiRAMT-II) | - |
dc.type | Article | - |
dc.description.isOpenAccess | FALSE | - |
dc.relation.journalWebOfScienceCategory | Engineering, Multidisciplinary; Materials Science, Biomaterials; Robotics | - |
dc.relation.journalResearchArea | Engineering; Materials Science; Robotics | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.subject.keywordAuthor | locomotion | - |
dc.subject.keywordAuthor | rotational leg | - |
dc.subject.keywordAuthor | actuated middle joint | - |
dc.subject.keywordAuthor | actuated tail | - |
dc.subject.keywordAuthor | bionic miniature robot | - |
dc.subject.keywordPlus | BLABERUS-DISCOIDALIS | - |
dc.subject.keywordPlus | COCKROACH | - |
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