Jumping Motion Achieved for Walking Robot with Spherical Shell

Abstract

Carrying robots to work place where got disaster sites is dangerous. If they can be thrown into the place, operators will be safe. The purpose of this study is development of durable jumping robots. Thus, we have been developing a robot with spherical shell. This robot has three legs and function of jumping to any direction. In this paper, we report consideration of two walking motions of three legs. Walking motions are adopted to “Creeping-type inchworm gait” which is using body. Finally, a result of the experiment of these is shown.