1A1-E02 反射行動を用いた自律四足歩行ロボットの悪路における安定歩行(脚移動ロボット)

概要

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In this paper, we have aimed to enable a steady fast by change the program and the hardware of an autonomous quadruped robot walking and turn and to do the navigation.At that time, the one that the addition and the deletion of the program can be easily done without using a complex control method.This time, it aims at the stability walking in the rough way in this research for the expansion of the navigation environment in the autonomous quadruped robot.And, the stability walking with CPU that the reflex is used and the performance is inferior is achieved.Posture by the reactive behavior in the slope is controlled for that. In addition, the walking experiment on the slope where the postural control is done is considered about the stability walking on the doing slope.
一般社団法人日本機械学会の論文
2008-06-06