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...