1A1-F17 4脚ロボットの開発及び腰の自由度を用いた歩容実験

概要

論文の詳細を見る
The goal of this paper is to build a four legged robot that can minimize energy consumption like a horse. In this paper, we report effects of a passive waist join of a four legged robot on its gait motion, which has similar link length ratios to a horse. The robot has 11 joints driven by D.C. motors and a force sensor is installed on each toe. We conducted some experiments using the robot. First, we confirmed that we can distinguish walking and trotting gait by using the force sensors. Then, we measured inclinations of the body in the walking and trotting gaits using gyro sensors on the back of the robot. As a result, posture of the body was stable in walking gait and unstable in trotting gait. From the result, we concluded that the passive waist joint influenced posture of the robot body.
一般社団法人日本機械学会の論文