1A2-B17 ストランド筋駆動多脚ロボットの擬似低重力環境下における歩行動作

概要

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Most of exploration rovers are crawler- or wheel-type, but they tend to slip on the soft road surfaces. Legged robots, on the other hand, can walk on steep slopes and on rough terrains without slip. This research is, therefore, aimed at realizing walk action of the 6-legged robot StMAR-III (Strand-Muscle-Actuator-based Robot-III) in Quasi-Low-Gravity environment. The Strand-Muscle Actuators drive joints by antagonist muscles with nonlinear elastic properties, and realize joint angle/stiffness control easily. Having simple mechanism, small size and light weight, the actuators can easily realize complex/flexible joint motions by parallel installation. It is expected that legged robots using the actuators adapt to rough terrains without exact feedback control. In this article the mechanism of the StMAR-M and preliminary experimental results are given.
一般社団法人日本機械学会の論文