1A1-E10 腕脚統合型ロボット「ASTERISK」による段差のよじ登り動作
詳細
A method for limb mechanism robot "ASTERISK" of climbing up onto steps which are higher than its body is proposed. Basically the robot climbs by wave gait. It inclines its body so that its legs can reach the step. When the robot lifts up the legs, it calculates the stability margin by measuring the body orientation with its acceleration sensor. The robot also detects the contact between the feet and step using joint compliance. As the result of experiment, the robot could climb up onto a 230[mm] high step.
