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
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.
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Copyright© 2012 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.