複合型ワイヤ干渉駆動式長脚機構の動作試験

抄録

The performance of multi-legged robot is highly dependent on the performance of the leg mechanism. The leg length is one of the factors that determine the walking robot’s performance, especially on rough terrain. We have been developing a hexapod walking robot named "ASURA II", which is biologically inspired from harvestman in nature. We introduced the integrated coupled drive system having multiple coupled-wire actuations to leg mechanism for constructing long leg mechanism like harvestman’s leg. In this paper, the results of motion experiments using a single leg mechanism have been reported. In order to test the walking motion of the robot on uneven terrain, we classified the uneven terrain on which the robot would walk into nine types and planned the leg trajectory accordingly. We conducted the motion experiments using single leg mechanism, this leg trajectory planning and a special experimental set-up that can simulate the situation when the robot is walking. we have successfully demonstrated basic motion.