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JRM Vol.24 No.1 pp. 174-179
doi: 10.20965/jrm.2012.p0174
(2012)

Paper:

Multi-Leg System for Aerial Vehicles

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

*Department of Robotics, Kanazawa Institute of Technology, 3-1 Yatsukaho, Hakusan, Ishikawa 924-0838, Japan

**Hirata Corporation, 3-9-20 Togoshi, Sinagawa, Tokyo 142-0041, Japan

***Department of Mechanical Engineering, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:
April 30, 2011
Accepted:
August 24, 2011
Published:
February 20, 2012
Keywords:
flying robot, landing gear, legged robot
Abstract

The multi-leg system concept for aerial vehicles proposed here is a novel alternative to conventional landing gear and realizes adaptation to undulating terrain, shock absorption, ground-surface gripping, and chassis support after landing. The sections that follow discuss multi-leg system concept, mechanical shock absorption design, simulation, and experimental results.

Cite this article as:
Takahiro Doi, Kazunori Miyata, Takamasa Sasagawa, and
and Kenjiro Tadakuma, “Multi-Leg System for Aerial Vehicles,” J. Robot. Mechatron., Vol.24, No.1, pp. 174-179, 2012.
Data files:
References
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  3. [3] M. H. Raibert, “Legged Robots That Balance,” The MIT Press.
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  5. [5] K.Miyata, T. Sasagawa, T. Doi, and K. Tadakuma, “A Study of Leg-Type Landing Gear for Aerial Vehicles – Development of One Leg Model –,” J. of Robotics and Mechatronics, Vol.23, No.2, pp. 266-270, 2011.

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Last updated on Mar. 05, 2021