Bio-inspired Design of a Double-Sided Crawling Robot
A CardBot is a crawler with a thin card-sized structure, which has a limit in crawling when turned upside down. A double-sided CardBot presented in this paper is a robot that can crawl even when it is turned upside down because it can crawl on both sides. By adding one more robot body on a single-sided CardBot and sharing a motor to drive both slider cranks, a low height double-sided robot can be made. This 19 mm high, 26.39 g robot can crawl at a speed of 0.25 m/s. Thanks to the low body height, the robot can explore narrow gaps. Experiments were conducted to compare the running performance between the single-sided CardBot and the double-sided CardBot. Compared with a single-sided CardBot, only little degradation of the performance occurs due to implementation of a double-sided driving. The design has been adapted to reduce the friction, but the weakness of the shared joint due to the interaction of both cranks remains an unsolved problem. The structure of the robot will be modified to provide better performance in the future.
KeywordsLegged locomotion Double-sided Hexapod
This research was supported by a grant to Bio-Mimetic Robot Research Center Funded by Defense Acquisition Program Administration, and by Agency for Defense Development (UD130070ID).
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