2A2-C05 24自由度6脚ロボットの整地における旋回歩行と並進歩行(脚移動ロボット)

概要

論文の詳細を見る
To make a six-legged robot move efficiently, it is necessary for us to make the robot change its walking style depending on the situation. Thus, employing our six-legged robot with 24-DOF, we measured its electric power consumption for turning and translational motions in walking on level terrain. In an experiment on turning motion in walking, we compared two types: one mimicking an ant, and one by wave gait. We found that electric power consumption of the turning motion in walking by wave gait was smaller. In addition, as a result of an experiment on translational motion in walking, when we compared differences of movement direction, we found that electric power consumption increased in the order of slantwise direction, sideways direction, and forward direction.
一般社団法人日本機械学会の論文
2011-05-26