2A2-C04 泥濘地環境における6脚ロボットの有効性(脚移動ロボット)

概要

論文の詳細を見る
In general, a legged locomotive robot is considered to be suitable for movement on non-level terrain.Therefore, we have studied a six-legged robot that can move and operate on non-level terrain. In this study, to verify the effectiveness of a six-legged robot on marshy terrain, which is one type of non-level terrain environment, we carried out an experiment to measure electric power consumption during walking in environments of both level and marshy terrains, choosing four and five as the number of supporting legs. As a result, in both cases of four and five supporting legs, the robot's electric power consumption on marshy terrain was smaller than that on level terrain. The results show that a six-legged robot can walk more efficiently on marshy terrain than on level terrain.
一般社団法人日本機械学会の論文
2011-05-26