Design of claw-like hand-foot fusion mechanism for the multi-legged robot

Fenglei Ni; Shengyu Zhang; Zainan Jiang; Hong Liu

doi:10.1109/AIM.2018.8452272

Design of claw-like hand-foot fusion mechanism for the multi-legged robot

Fenglei Ni
, Shengyu Zhang
, Zainan Jiang^*
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

To improve the operational ability of the multi-legged robots, we design a novel hand-foot fusion mechanism (HFFM) which is inspired by the chicken claw. The HFFM has the fingers and palm which is similar to the chicken claw, which could not only assists the robot walking like robot's foot, but also envelope or pinch the objects. The structure of the HFFM consists of the underactuated mechanism finger (UMF) and the traditional passive compliance mechanism (TPCM). Based on the HFFM, the multi-legged robot is designed. Simulation results in ADAMS indicate that the HFFM not only enhances the stability of the robot but also endows the robot with the ability of enveloping or pinching objectives.

Original language	English
Title of host publication	AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	676-681
Number of pages	6
ISBN (Print)	9781538618547
DOIs	https://doi.org/10.1109/AIM.2018.8452272
State	Published - 30 Aug 2018
Event	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 - Auckland, New Zealand Duration: 9 Jul 2018 → 12 Jul 2018

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2018-July

Conference

Conference	2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018
Country/Territory	New Zealand
City	Auckland
Period	9/07/18 → 12/07/18

Access to Document

10.1109/AIM.2018.8452272

Cite this

Ni, F., Zhang, S., Jiang, Z., & Liu, H. (2018). Design of claw-like hand-foot fusion mechanism for the multi-legged robot. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 676-681). Article 8452272 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2018.8452272

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title = "Design of claw-like hand-foot fusion mechanism for the multi-legged robot",

abstract = "To improve the operational ability of the multi-legged robots, we design a novel hand-foot fusion mechanism (HFFM) which is inspired by the chicken claw. The HFFM has the fingers and palm which is similar to the chicken claw, which could not only assists the robot walking like robot's foot, but also envelope or pinch the objects. The structure of the HFFM consists of the underactuated mechanism finger (UMF) and the traditional passive compliance mechanism (TPCM). Based on the HFFM, the multi-legged robot is designed. Simulation results in ADAMS indicate that the HFFM not only enhances the stability of the robot but also endows the robot with the ability of enveloping or pinching objectives.",

author = "Fenglei Ni and Shengyu Zhang and Zainan Jiang and Hong Liu",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018 ; Conference date: 09-07-2018 Through 12-07-2018",

year = "2018",

month = aug,

day = "30",

doi = "10.1109/AIM.2018.8452272",

language = "英语",

isbn = "9781538618547",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "676--681",

booktitle = "AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

address = "美国",

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Ni, F, Zhang, S, Jiang, Z & Liu, H 2018, Design of claw-like hand-foot fusion mechanism for the multi-legged robot. in AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 8452272, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2018-July, Institute of Electrical and Electronics Engineers Inc., pp. 676-681, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2018, Auckland, New Zealand, 9/07/18. https://doi.org/10.1109/AIM.2018.8452272

Design of claw-like hand-foot fusion mechanism for the multi-legged robot. / Ni, Fenglei; Zhang, Shengyu; Jiang, Zainan et al.
AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2018. p. 676-681 8452272 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2018-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - To improve the operational ability of the multi-legged robots, we design a novel hand-foot fusion mechanism (HFFM) which is inspired by the chicken claw. The HFFM has the fingers and palm which is similar to the chicken claw, which could not only assists the robot walking like robot's foot, but also envelope or pinch the objects. The structure of the HFFM consists of the underactuated mechanism finger (UMF) and the traditional passive compliance mechanism (TPCM). Based on the HFFM, the multi-legged robot is designed. Simulation results in ADAMS indicate that the HFFM not only enhances the stability of the robot but also endows the robot with the ability of enveloping or pinching objectives.

AB - To improve the operational ability of the multi-legged robots, we design a novel hand-foot fusion mechanism (HFFM) which is inspired by the chicken claw. The HFFM has the fingers and palm which is similar to the chicken claw, which could not only assists the robot walking like robot's foot, but also envelope or pinch the objects. The structure of the HFFM consists of the underactuated mechanism finger (UMF) and the traditional passive compliance mechanism (TPCM). Based on the HFFM, the multi-legged robot is designed. Simulation results in ADAMS indicate that the HFFM not only enhances the stability of the robot but also endows the robot with the ability of enveloping or pinching objectives.

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Ni F, Zhang S, Jiang Z , Liu H. Design of claw-like hand-foot fusion mechanism for the multi-legged robot. In AIM 2018 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc. 2018. p. 676-681. 8452272. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2018.8452272

Design of claw-like hand-foot fusion mechanism for the multi-legged robot

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