2011 Fiscal Year Final Research Report
Multi-Leg System for Aerial Vehicles
| Project/Area Number |
22760196
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kanazawa Institute of Technology |
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Principal Investigator |
DOI Takahiro 金沢工業大学, 工学部, 講師 (40410633)
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| Project Period (FY) |
2010 – 2011
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| Keywords | ロボティクス / 脚ロボット |
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| Research Abstract |
As a system of aerial vehicle and landing gear for landing smoothly on general undulating ground, a concept of multi-leg system was proposed. Leg mechanisms that have symmetric parallel links for soft landing was developed and landing performance was verified. Flying performance loading every control, actuation and power equipments and landing performance maintaining its body horizontal on stepped ground were evaluated experimentally. Adaptive leg mechanism to irregular terrain with reduced number of actuators was proposed and landing performance was verified. That utilizes the DOFs of the aerial vehicle.
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