クローラ可変型4足歩行ロボットTITAN Xの開発

—脚機構の基本設計と動作実験—

抄録

We propose track-changeable quadruped walking robot, named “TITAN X”. TITAN X is a novel leg-track hybrid mobile robot with a special leg driving system on each leg. Driving belt on each leg changes to a timing-belt in leg form and a track-belt in track form. TITAN X walks in leg form on rough terrain and makes tracked locomotion using track-belt on level or comparatively low-rough terrain. The characteristics of TITAN X are: 1) it has a hybrid function but is lightweight, 2) it has potential capabilities to demonstrate high-performance on highly-rough terrain. In this paper, details of leg design with special belt are reported. Also form change mechanism are integrated into the system. We have constructed prototype of TITAN X and successfully demonstrated basic performance of TITAN X and the validity of the concept of a track-changeable walking robot.