1A2-F14 インピーダンス制御を用いた油圧駆動型6脚ロボットの不整地歩行

概要

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This paper presents the locomotion method for hydraulically actuated hexapod robot in rough terrain. We develop the hydraulically actuated hexapod robot named COMET-IV which operates for hazard operation assistance in outdoor. Outdoor fields consist of various environments, so the robot must have high adaptability to the ground. Conventional method, position control, has difficulty to adapt to them. So we apply the position/force and attitude control to the COMET-IV and the locomotion test in outdoor field is done. The effectiveness of the control system is shown. And it is necessary for COMET-IV to walk on the gradient of 20 degrees, which is one of the design specifications. The gait planning and motion of the body is discussed and the presented method is verified through the locomotion test of the gradient of 10 degrees.
一般社団法人日本機械学会の論文
2009-05-25