節体幹型移動ロボットKR IIの開発

概要

論文の詳細を見る
The characteristics and the applications of the articulated body mobile robot, “Koryu (KR) ”, a mobile robot with a new style of articulated body is identified, and the construction of newly developed“Koryu-II (KR-II) ”is discussed. KR-II takes the form of linked seven articulations and its total length is 3.3m, and its total weight is 320kg. KR-II introduces new mechanisms and control systems such as, 1) easily detachable unified segments, 2) self contained driving system with wireless control, 3) traction wheels attached on one side of the segment, 4) the long stroke vertical prismatic joint to cope with a steep inclination, 5) robot hand driven by the coordination control of the body articulation, 6) force sensor based on photodetecting technology, 7) an analog bus system to simplify the electrical installation. Finally, this paper describes fundamental results of the experiment of KR-II and shows the validity to move and operate in an unstructured environment.