공벌레의 보행패턴 분석을 통한 소형로봇의 주행 메커니즘 설계

Abstract

Reconnaissance robots can reduce the danger of hazardous places by providing information before human personnel take action. For the usage, robot platform should be small and light. However, this fact leads to a scaling issue with terrain that landscape poses a huge obstacle for the vehicle. The problem can be solved by the inspiration of nature. This paper presents design of the locomotive mechanism inspired by Pill bugs. The mechanism was designed by the principles of a pill bug's locomotion and experiments were conducted to validate the mechanism.