2A1-C28 ばね要素を陽に用いた4脚走行ロボットの移動速度向上に関する研究

概要

論文の詳細を見る
In this study, we paid attention to spring elements of animal legs, and designed and built a new 4-legged robot In the robot, each leg is an active-suspension type one-legged module with a DC motor and a helical compression spring 4 legs are linked to the body with adjustable joints, and they are strongly driven by a DC motor and a helical compression spring as well as the leg part. Compared with the previous version, the body was lightened due to changing the arrangement of the motors. The employment of a new mechanism in the joint part increased the total strength of the robot. In addition to the modification of the hardware, we reconsidered the control software. As a result, moving speed of our 4-legged running robot with springs was successfully improved.
一般社団法人日本機械学会の論文