Accession Number : ADA319249

Title :   A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion.

Descriptive Note : Rept. for Jul-Dec 96,

Corporate Author : CASE WESTERN RESERVE UNIV CLEVELAND OH DEPT OF COMPUTER ENGINEERING AND SCIEN CE

Personal Author(s) : Beer, Randall D. ; Quinn, Roger D. ; Ritzmann, Roy D. ; Chiel, Hillel J.

PDF Url : ADA319249

Report Date : 18 DEC 1996

Pagination or Media Count : 7

Abstract : The kinematic configuration and joint degrees of freedom for Robot III have been designed based upon motion studies of cockroach walking on smooth terrain and over barriers: 3 articulated joints (2 active) in the rear legs, 3 or 4 degrees of freedom in the middle leg, and 4 or 5 degrees of freedom in the front leg. The rear legs are used primarily to drive the cockroach, the middle legs are used for support and turning and to lift the body during climbing, and the front legs are typically used as sensors to help find footholds in climbing. A CAD model of the robot has been developed to help us design its overall structure (see figures). The weight of the robot should be under 20 lbs.

Descriptors :   *ROBOTS, *PROTOTYPES, *TERRAIN MODELS, *LOCOMOTION, KINEMATICS, DETECTORS, MODELS, WALKING, MOTION, DEGREES OF FREEDOM, CONFIGURATIONS, WEIGHT, BARRIERS, LEGS, BLATTIDAE, CLIMBING.

Subject Categories : Cartography and Aerial Photography
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE