1A2-F13 油圧駆動型6脚ロボットCOMET-IVのデューティ比による歩容遷移歩行

概要

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This paper presents the duty factor based transitional gait walking of hydraulically actuated hexapod robot. We develop the hydraulically actuated hexapod robot named COMET-IV which operates for hazard operation assistance in outdoor. Currently COMET-IV has been designed with capable of performing three gait pods which are Tripod, Tetrapod and Pentapod. However the weakness here is COMET-IV cannot transit or change rapidly among these gait at a time. Therefore this project was done to solve this problem by constructing the transitional gait. The technique was proposed which is based on the duty factor which is the ratio of the supporting interval to the cycle time. Thus by putting the transitional gait algorithm, the moving velocity of the robot can be increased and decreased gradually. The results are being validated and verified with some experiments.
一般社団法人日本機械学会の論文
2009-05-25