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


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

April 30, 2011
August 24, 2011
February 20, 2012
flying robot, landing gear, legged robot

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:
  1. [1] S. Grzonka, G. Grisetti, and W. Burgard, “Towards a Navigation System for Autonomous Indoor Flying,” Proc. of 2009 IEEE Int. Conf. on Robotics and Automation, pp. 2878-2883, 2009.
  2. [2] F. Kendoul and K. Nonami, “A Visual Navigation System for Autonomous Flight of Micro Air Vehicles,” The 2009 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3988-3893, 2009.
  3. [3] M. H. Raibert, “Legged Robots That Balance,” The MIT Press.
  4. [4] F. Kikuchi, Y. Ota, and S. Hirose, “Basic Performance Experiments for Jumping Quadruped,” The 2003 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3378-3383, 2003.
  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.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Mar. 05, 2021