1A1-F09 24自由度6脚ロボットの泥濘地歩行に関する研究(脚式移動ロボット・メカトロニクス)

概要

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In order for a legged locomotive robot to enable rough terrain roving, it is important not only to improve the performance of the robot itself but also to grasp characteristics of the rough terrain. This study aims at clarifying characteristics of a marshy terrain in connection with realization of marshy terrain roving by our 6-legged robot. First, from the viewpoint of mechanical dynamics, we assumed that the motion of a robot's toe in a marshy ground was described as a spring-damper model, and tried to evaluate this model qualitatively and quantitatively with some experiments. Next, from the viewpoint of fluid dynamics, we measured how the force acting on the toe in a marshy ground as a fluid varied depending on the toe's shape. Our experimental result from the approach of mechanical dynamics shows that the elastic coefficient in the model is nearly-constant. From the approach of fluid dynamics, it is shown that the force applied from the marshy ground to the toe is a generic drag that acts on an object in a flow.
一般社団法人日本機械学会の論文
2007-05-11