1A1-F04 クローラ可変型4足歩行ロボットTITAN Xの開発 : 第1報:クローラ可変型脚機構の設計(脚式移動ロボット・メカトロニクス)

概要

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This paper describes design of leg driving mechanism for a track-changeable quadruped walking robot, TITAN X. TITAN X is proposed to realize leg-track hybrid locomotion without restricted walking mobility. TITAN X has a special belt-driving system that changes between timing belt for walking and track belt for track propulsion. TITAN X can utilize the installed actuators for walking at track locomotion, so additional mechanism for locomotion changing is very light weight. Leg driving mechanism is composed of driving system by track-belt for light weight foot, and locomotion changing mechanism that consists of clutch mechanism and latch mechanism. We constructed prototype model of leg mechanism and tested some basic performance.
一般社団法人日本機械学会の論文
2007-05-11