Hallucigenia 01: The Next-Generation Robotic Vehicle


Hallucigenia project, jointly coordinated by Leading Edge Design, Corp., CREATIVE BOX Inc. and Future Robotics Technology Center at Chiba Institute of Technology, is a research program aiming to evolve the personal mobility of our daily life from a viewpoint of robotics. (*1)The short-term goal of this project is to propose new styles of transport vehicles through actual developments. As our first step in this research endeavor, we manufactured a mulit-joint vehicle robot, Hallucigenia01, as a concept model of our future mobility.

The primary feature of this vehicle robot is its underbody mechanism (seeFigure1). Composed by eight wheeled leg modules, the underbody mechanism of Hallucigenia01 can produce a wide variety of cruising options, including moving in a side direction, turning centered at its front edge, running over a bump while keeping the body level horizontal and walking.


Number of Joints: 24 (3 joints × 8 leg modules)
Number of Actuators: 32 motor units, in total
On-board Sensors: articular angle gauge, wheel control encoder, 3-axial angular sensor, current sensor for motor output measurement


Main Frame; aluminium alloy
Tires and others; acrylonitrile-butadiene-styrene resins