Skip to main content
SpringerLink
Log in
Book cover

International Conference on Intelligent Robotics and Applications

ICIRA 2013: Intelligent Robotics and Applications pp 257–264Cite as

A Six-Legged Walking Robot Inspired by Insect Locomotion

  • Conference paper

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 8103))

Abstract

In this paper, a six-legged walking robot inspired by insect locomotion is discussed. To implement the walking pattern of insects, four-bar linkage based structure is proposed and its performance is analyzed by kinematic simulation. Two servomotors are applied to left and right sides of the robot, which allows smooth turns and a natural walking pattern by the phase difference between two motors. The main structure of the robot is manufactured by a rapid prototyping method with polypropylene material, and a micro camera is installed for real-time video transmission to show its potential applications.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Raibert, M.H.: Legged robots that balance. MIT Press, Cambridge (1986)

    Google Scholar 

  2. Nelson, G.M., Quinn, R.D., Bachmann, R.J., Flannigan, W.C., Ritzmann, R.E., Watson, J.T.: Design and Simulation of a Cockroach-like Hexapod Robot. In: IEEE ICRA Proceedings, pp. 1106–1111 (1997)

    Google Scholar 

  3. Cruse, H., Dean, J., Muller, U., Schmitz, J.: The stick insect as a walking robot. In: Proceeding of the 5th International Conference on Advanced Robotics, pp. 936–940 (1991)

    Google Scholar 

  4. Reinhardt, L., Weihmann, T., Blickhan, R.: Dynamics and kinematics of ant locomotion: do wood ants climb on level surfaces? J. Exp. Biol. 2426–2435 (2009)

    Google Scholar 

  5. Hoover, A.M., Steltz, E., Fearing, R.S.: RoACH: An autonomous 2.4g crawling hexapod robot. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 26–33 (2008)

    Google Scholar 

  6. Kim, S., Clark, J.E., Cutkosky, M.R.: iSprawl: Autonomy, and the Effects of Power Transmission. In: Climbing and Walking Robots, pp. 859–867 (2005)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Bio-Robotics and Control (BiRC) Lab., School of Mechanical and Advanced Materials Engineering, UNIST, Korea

    Yeongtae Jung & Joonbum Bae

Authors
  1. Yeongtae Jung
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Joonbum Bae
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, Pusan National University, South Korea

    Jangmyung Lee

  2. School of Mechanical Engineering, Pusan National University, Busan, South Korea

    Min Cheol Lee

  3. Intelligent Systems & Biomedical Robotics Group, School of Creative Technologies, University of Portsmouth, PO1 2DJ, England, UK

    Honghai Liu

  4. School of Mechanical Engineering, Biorobotics Laboratory, Korea University of Technology and Education, Gajeon-ri Byeongcheon-myeon 307, 330-708, Cheonan, Korea

    Jee-Hwan Ryu

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Jung, Y., Bae, J. (2013). A Six-Legged Walking Robot Inspired by Insect Locomotion. In: Lee, J., Lee, M.C., Liu, H., Ryu, JH. (eds) Intelligent Robotics and Applications. ICIRA 2013. Lecture Notes in Computer Science(), vol 8103. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40849-6_23

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-40849-6_23

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-40848-9

  • Online ISBN: 978-3-642-40849-6

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation