4足歩行ロボットTITAN-XIIIの設計と開発

抄録

In this paper, we discuss the development of sprawling-type quadruped robot named ”TITAN-XIII”. We developed an experimental quadruped robot especially designed for dynamic walking. Unlike dog-like robots, the developed robot looks like a four-legged spider. As a dynamic walking experiment robot, we designed it focusing on the three basic concepts: lightweight, wide range of motion and ease of maintenance. To achieve these goals, we introduce a wire-driven mechanism using a synthetic fiber rope to transmit power to each axis making use of this wire-driven mechanism, we can locate the motors at the base of the leg, reducing its inertia. Additionally, each part of the robot is unitized, and can be easily disassembled. The developed robot was tested and it was confirmed that the robot can perform dynamic walking at 1.38 m/s with cost of transport 1.76.