Abstract
Our small quadrupedal walking rescue robot was able to move well on scattered papers, plastic bags, strings, and nets on the floor. To improve the moving speed, stability, and operativeness, we propose the technique for automatically controlling the leg motion to evade obstacles. We used commercial small servo motor which can report load information, and investigated the difference of the load executing the motion by the presence of the obstacle. It was verified to be able to distinguish the presence of the obstacle from the value of the load. Finally, we mounted the obstacle evasion operation according to the load on the motion, and verified the operation worked effectively.
