多足歩行機械の自由度に関する基本的考察

概要

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All multi-legged locomotion machines that do not need any dynamic balance control can be classified into several levels functionally. The authors define (ⅰ) two dimensional walking, (ⅱ) to maintain the body horizontal on rough terrain, (ⅲ) to keep the absolute height of main body constant as the minimum walking functions of multi-legged locomotion machines. By the way, how many active degrees of freedom are necessary and sufficient to realize the above functions? Althought the consideration of degrees of freedom seems to be fundamental in developing multi-legged locomotion machines, this problem has not yet been studied thoroughly. From this point of view, the active degrees of freedom are examined in this paper using a fourlegged machine which offers the minimum number of legs capable of keeping static stability. Resultantly it is shown that "six" is the necessary and sufficient number of active degrees of freedom to realize the above functions.
日本ロボット学会,機械技術研究所の論文