Prototypes, Mathematical Modeling and Motion Analysis of Heptagonal Passive Rotating Locomotion Robots with Elastic Elements Arranged on Diagonal Lines
Fumihiko Asano, Mikito Komori, Taiki Sedoguchi, Isao T. Tokuda
Abstract
The authors have proposed a passive rotating locomotion robot that forms a convex heptagonal body by connecting seven identical linear rigid frames via viscoelastic rotational joints. In our previous study, it was confirmed through both numerical simulations and actual experiments that stable and passive rotating motion on a downhill could be generated. This paper proposes two new models in which the seven rigid frames are used as robust exoskeletons as they are, but the elastic elements attached to the rotating joints are removed and repositioned on the diagonals of the convex heptagon to reproduce the flexibility of the internal tissue. The elastic elements form a star-shaped polygon called a heptagram, which is formed by connecting seven vertices with a single stroke. The seven vertices can be connected in two different ways to form two different heptagram shapes. We report the basic numerical results of the change in the motion characteristics of the two models with respect to the slope angle and elastic modulus. An overview of the prototypes developed and the results of basic experiments are also reported.
BibTeX
@inproceedings{iros2025_prototypesmathem,
title = {Prototypes, Mathematical Modeling and Motion Analysis of Heptagonal Passive Rotating Locomotion Robots with Elastic Elements Arranged on Diagonal Lines},
author = {Fumihiko Asano and Mikito Komori and Taiki Sedoguchi and Isao T. Tokuda},
booktitle = {IROS 2025},
year = {2025}
}