Spherical Magnetic Joint for Inverted Locomotion of Multi-Legged Robot
Harn Sison,Photchara Ratsamee,Manabu Higashida,Tomohiro Mashita,Yuki Uranishi,Haruo Takemura,Harn Sison,Photchara Ratsamee,Manabu Higashida,Tomohiro Mashita,Yuki Uranishi,Haruo Takemura
In this paper, we present a spherical magnetic joint for the inverted locomotion of a multi-legged robot. The permanent magnet’s spherical shape allows the robot to attach its foot to a steel surface without energy consumption. However, the robot’s inverted locomotion requires foot flexibility for placement and gait construction of the robot. Therefore, the spherical magnetic joint mechanism was d...
