Toroidal Origami Monotrack: Mechanism to Realize Smooth Driving and Bending for Closed-Skin-Drive Robots
Masahiro Watanabe,Yuto Kemmotsu,Kenjiro Tadakuma,Kazuki Abe,Masashi Konyo,Satoshi Tadokoro,Masahiro Watanabe,Yuto Kemmotsu,Kenjiro Tadakuma,Kazuki Abe,Masashi Konyo,Satoshi Tadokoro
We propose a novel toroidal origami monotrack capable of smooth-skin driving and bending for closed-skin-drive robots. Monotracks are a promising solution for achieving high mobility in unstructured environments. Toroidal-drive mechanisms enable whole skin drive; however, conventional methods experience unexpected wrinkling and buckles that lead to a large resistance. In this study, we propose an ...
