A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –

Kazunori Miyata; Takamasa Sasagawa; Takahiro Doi; Kenjiro Tadakuma

doi:10.20965/jrm.2011.p0266

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JRM Vol.23 No.2 pp. 266-270

doi: 10.20965/jrm.2011.p0266

(2011)

Paper:

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A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –

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

^*Kanazawa Institute of Technology, 7-1 Ougigaoka, Nonoiti-mathi, Ishikawa-gun, Ishikawa 921-8501, Japan

^**Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565-0871, Japan

Received:

September 30, 2010

Accepted:

January 31, 2011

Published:

April 20, 2011

Keywords:

flying robot, landing gear, legged robot

Abstract

The novel aerial landing gear we propose has multiple articulated legs requiring no flat facilities such as landing fields. Smooth landing in rough terrain is enabled by multiple articulated legs changing shape and mechanical impedance as needed. For soft landings, it decreases velocity from fast to slow. Mechanical leg design is discussed and soft landing performance demonstrated.

Cite this article as:

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

Data files:

References

[1] K. Nonami, “Aerial robotics by rotor blade,” J. of the Robotics Society of Japan Vol.24, No.8, pp. 890-896, 2006.
[2] S. Suzuki, “Aerial robotics by Fixed wing,” J. of the Robotics Society of Japan Vol.24, No.8, pp. 897-900, 2006.
[3] K. Sakaguchi, T. Sudo, N. Bushida, Y. Chiba, Y. Asai, and K. Kikuchi, “Wheel-Based Stair-climbing Robot with Hopping Mechanism – Fast Stair-climbing and Soft-landing by Vibration of 2-DOF system –,” J. of Robotics and Mechatronics, Vol.19, No.3, pp. 258-263, June 2007.
[4] M. H. Raibert, “Legged Robots That Balance,” The MIT Press, 1986.
[5] T. Doi, K. Miyata, T. Sasagawa, and K. Tadakuma, “Study of Legtype Landing Gear for Aerial Robots,” RSJ2009, 1E1-06, 2009.

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

[1] [1] K. Nonami, “Aerial robotics by rotor blade,” J. of the Robotics Society of Japan Vol.24, No.8, pp. 890-896, 2006.

[2] [2] S. Suzuki, “Aerial robotics by Fixed wing,” J. of the Robotics Society of Japan Vol.24, No.8, pp. 897-900, 2006.

[3] [3] K. Sakaguchi, T. Sudo, N. Bushida, Y. Chiba, Y. Asai, and K. Kikuchi, “Wheel-Based Stair-climbing Robot with Hopping Mechanism – Fast Stair-climbing and Soft-landing by Vibration of 2-DOF system –,” J. of Robotics and Mechatronics, Vol.19, No.3, pp. 258-263, June 2007.

[4] [4] M. H. Raibert, “Legged Robots That Balance,” The MIT Press, 1986.

[5] [5] T. Doi, K. Miyata, T. Sasagawa, and K. Tadakuma, “Study of Legtype Landing Gear for Aerial Robots,” RSJ2009, 1E1-06, 2009.

A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –

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

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