1A1-E16 非接触インピーダンス制御による脚式移動ロボットの段差歩行(脚移動ロボット)

抄録

In this paper, a legged mobile robot carrying the human is developed considering the adaptiveness for inaccessible environment at existing infrastructure. Also, as a method for avoiding the obstacles, the virtual impedance control method is proposed. This method can avoid an obstacle without contacting by receiving virtual force from virtual spring and damper installed in virtual surface region. Finally, the mobility of the legged robot by non-contacting impedance control is presented through some experiments.