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Modeling and Analysis of Novel Lizard Typed Robot

Shunsuke Nansai 1, Ryo Akai1, Hiroshi Itoh 1, Yuki Ando 2, and Norihiro Kamamichi 2
1. Department of Advanced Machinery Engineering, School of Engineering, Tokyo Denki University, Tokyo, Japan
2. Department of Robotics and Mechatronics, School of Science and Technology for Future Life, Tokyo Denki University, Tokyo, Japan

Abstract—The purpose of this paper is to propose new type of a kinetic chained walking robot capable of walking with only single actuator. Legged robots are able to move across irregular terrains, however, have an issue on energy efficiency compared with other morphology. A bio-inspired approach often provides effective solutions, for example, a lizard is able to mainly walk by utilizing only twisting its waist. To mimic this characteristic by robotics, a robot consisting of four-bar linkage mechanism is proposed. This idea improves simplification of its locomotion analysis. In this paper, a kinematics of the robot is derived, and two important characteristics are analyzed in order to propose locomotion ability and effectiveness of the robot. The analysis results are verified via numerical simulation. 

Index Terms—bio-inspired robot, bilateration problem, kinematic analysis

Cite: Shunsuke Nansai, Ryo Akai, Hiroshi Itoh, Yuki Ando, and Norihiro Kamamichi, "Modeling and Analysis of Novel Lizard Typed Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 8, pp. 1152-1157, August 2020. DOI: 10.18178/ijmerr.9.8.1152-1157

Copyright © 2020 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.