Authors
Amornphun Phunopas1, *, Eiji Hayashi2
1
Department of Production Engineering, King Mongkut’s University of Technology
North Bangkok, Bang Sue, Bangkok 10800, Thailand
2
Computer Science and Systems Engineering, Kyushu Institute of Technology,
Iizuka, Fukuoka 820-0067, Japan
*
Corresponding author. Email: [email protected]
Corresponding Author
Amornphun Phunopas
Received 25 July 2018, Accepted 12 November 2018, Available Online 1 December
2018.
DOI
https://doi.org/10.2991/jrnal.2018.5.3.4
Keywords
Soft material robot; robot’s foot sensing; statics balance condition
Abstract
The conventional wheel is famous in the industrial mobile robot because
it is simple to build and easy to control and to maneuver. On the other
hand, the legged robot is complicated to control but has a high performance
in locomotion like highly evolved legged-creatures. This research describes
the four-legged robot design platform with the soft feet, which are made
by silicone-material forming. The robot’s feet are implanted by the strain
gauge sensor. The robot can percept the external force sensitively when
its feet touch something. The research demonstrates the forward kinematics
and inverse kinematics of a four-legged robot with three joints for each.
The result has validated the kinematic equations by implementing them on
the real dog-like pet robot. The robot walked with a pure walking gait
and showed a sensing signal from the soft foot and ground contact.
Copyright
© 2018 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article under the CC BY-NC license (http://creativecommons.org/licences/by-nc/4.0/).