2A2-B10 cmオーダの小型歩行ロボットによる省自由度高速移動に関する研究(脚移動ロボット)

概要

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In this paper, we propose a new mechanism for small legged robots such as insects capable of traveling quickly both on ground and on water. As observed in the nature world, cm-order insects have a wide variety of locomotion systems for rough terrain including desert, lake, and swamp. For example, a cockroach can move over 30 body-lengths per second and a water strider can slide on water by surface tension. Since these abilities are due to "scaling effect" of insect size where viscosity is more dominant than inertia, it can be expected that the performance of the small robot dramatically improved by emulation of these mechanisms. From this viewpoint, we developed a small legged robot with body length of 5.5 cm and weight of 7.6 g, and realized trot gait with the maximum velocity of 490 mm/s (11 body-lengths per second) and turn motion with angular velocities of 300 deg/s right, 70 deg/s left on the ground.
2011-05-26