VLR: Cockroach millirobot with load decoupling structure

Dongwon Yun; Ronald S. Fearing

doi:10.1109/AIM.2015.7222520

VLR: Cockroach millirobot with load decoupling structure

Dongwon Yun
, Ronald S. Fearing

Department of Robotics and Mechatronics Engineering

University of California at Berkeley

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

5 Scopus citations

Abstract

This paper presents the development of Very Large RoACH (VLR), which is a rapidly-prototyped folded cardboard cockroach-like robot for carrying relatively heavy loads. To increase load capacity, a vertically movable platform is designed, which can decouple an internal payload from loading the robot hips. Based on the previous VelociRoACH design, VLR is designed for greater load capacity, by 160% size scaling. After building a prototype, experiments are performed. The speed and traction force are measured to validate the performance of the proposed robot. Through these experiments, it was found that the speed of the robot increases by 2.2 times and the traction force increases by 1.4 times using the proposed mechanism compared to the design without load decoupling.

Original language	English
Title of host publication	AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	127-132
Number of pages	6
ISBN (Electronic)	9781467391078
DOIs	https://doi.org/10.1109/AIM.2015.7222520
State	Published - 25 Aug 2015
Event	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of Duration: 7 Jul 2015 → 11 Jul 2015

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2015-August

Conference

Conference	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
Country/Territory	Korea, Republic of
City	Busan
Period	7/07/15 → 11/07/15

Bibliographical note

Publisher Copyright:
© 2015 IEEE.

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10.1109/AIM.2015.7222520

Cite this

Yun, D., & Fearing, R. S. (2015). VLR: Cockroach millirobot with load decoupling structure. In AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (pp. 127-132). Article 7222520 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2015-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2015.7222520

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title = "VLR: Cockroach millirobot with load decoupling structure",

abstract = "This paper presents the development of Very Large RoACH (VLR), which is a rapidly-prototyped folded cardboard cockroach-like robot for carrying relatively heavy loads. To increase load capacity, a vertically movable platform is designed, which can decouple an internal payload from loading the robot hips. Based on the previous VelociRoACH design, VLR is designed for greater load capacity, by 160\% size scaling. After building a prototype, experiments are performed. The speed and traction force are measured to validate the performance of the proposed robot. Through these experiments, it was found that the speed of the robot increases by 2.2 times and the traction force increases by 1.4 times using the proposed mechanism compared to the design without load decoupling.",

author = "Dongwon Yun and Fearing, \{Ronald S.\}",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 ; Conference date: 07-07-2015 Through 11-07-2015",

year = "2015",

month = aug,

day = "25",

doi = "10.1109/AIM.2015.7222520",

language = "English",

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

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

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booktitle = "AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics",

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Yun, D & Fearing, RS 2015, VLR: Cockroach millirobot with load decoupling structure. in AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics., 7222520, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2015-August, Institute of Electrical and Electronics Engineers Inc., pp. 127-132, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015, Busan, Korea, Republic of, 7/07/15. https://doi.org/10.1109/AIM.2015.7222520

VLR: Cockroach millirobot with load decoupling structure. / Yun, Dongwon; Fearing, Ronald S.
AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Institute of Electrical and Electronics Engineers Inc., 2015. p. 127-132 7222520 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2015-August).

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

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AU - Yun, Dongwon

AU - Fearing, Ronald S.

PY - 2015/8/25

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N2 - This paper presents the development of Very Large RoACH (VLR), which is a rapidly-prototyped folded cardboard cockroach-like robot for carrying relatively heavy loads. To increase load capacity, a vertically movable platform is designed, which can decouple an internal payload from loading the robot hips. Based on the previous VelociRoACH design, VLR is designed for greater load capacity, by 160% size scaling. After building a prototype, experiments are performed. The speed and traction force are measured to validate the performance of the proposed robot. Through these experiments, it was found that the speed of the robot increases by 2.2 times and the traction force increases by 1.4 times using the proposed mechanism compared to the design without load decoupling.

AB - This paper presents the development of Very Large RoACH (VLR), which is a rapidly-prototyped folded cardboard cockroach-like robot for carrying relatively heavy loads. To increase load capacity, a vertically movable platform is designed, which can decouple an internal payload from loading the robot hips. Based on the previous VelociRoACH design, VLR is designed for greater load capacity, by 160% size scaling. After building a prototype, experiments are performed. The speed and traction force are measured to validate the performance of the proposed robot. Through these experiments, it was found that the speed of the robot increases by 2.2 times and the traction force increases by 1.4 times using the proposed mechanism compared to the design without load decoupling.

UR - https://www.scopus.com/pages/publications/84951161380

U2 - 10.1109/AIM.2015.7222520

DO - 10.1109/AIM.2015.7222520

M3 - Conference contribution

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BT - AIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 7 July 2015 through 11 July 2015

ER -

VLR: Cockroach millirobot with load decoupling structure

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