抄録
On marshy terrain, unlike solid terrain, a person has trouble maintaining stability because the legs sink. Thus, it is generally more difficult to work safely on marshy terrain than on solid terrain. Therefore, we decided to develop a six-legged robot that can negotiate marshy terrain. In this study, in order to have a six-legged robot walk smoothly on marshy terrain, we examined the influence of mud on the robot. First, we measured electric power consumption when the robot walked on both marshy and solid terrain and compared these values. Next, we produced several kinds of toe modules and swung a leg in marshy terrain. As a result, we clarified that total electric power consumption in marshy terrain was smaller than in solid terrain, and electric power consumption depended on the toe modules.
