ADAPTIVE LANDING OF AN UNDERACUATED LEG MECHANISM CONSTRAINED WITH SPRINGS AND ITS APPLICATION TO WALKING ROBOT

抄録

A novel motion control system that an underactuated planar parallel leg mechanism constrained with springs flexibly adapts to unknown uneven terrain is proposed and applied to a walking robot. Kinetostatics analysis of a planar 6-bar one-loop parallel leg mechanism is carried out and then the motor inputs angle for complete landing with a small reaction force and driving torque is determined. A biped walking robot with the proposed leg mechanisms and two supporting wheels is built and examined. The complete landing motion with simple control scheme is confirmed by simulations and experiments. The robot can walk on a flat ground, a slope, and a stepped ground.