2A1-C36 仮想泥濘地環境下における6脚ロボットの歩行制御

概要

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In general, a 6-legged locomotive robot can adapt to rough environments due to the controlling degree of freedom of the legs by using a variety of gait patterns. Until last year, we studied the behavior of a 6-legged locomotive robot on typical rough ground with irregular ditches and obstacles. This year, we decided to study the effective utilization of the robot on muddy ground such as a paddy field. In this study, we prepared a sponge as a virtually-marshy ground and carried out walking control experiments of the robot on the sponge using both actual robots and simulations. In our robot with a total of 24 DOF, force sensors were installed at the disk-like toes and inclination sensors to the body and the legs. Using their sensors, the robot can measure the information necessary for walking, such as the position of toes sinking in the sloppy environment. Using our proposed walking control technique based on force control, experimental results show that the robot can successfully move on virtually-marshy ground maintaining pitch angles and roll angles horizontally.
一般社団法人日本機械学会の論文