Abstract
The focus of development on the robot for this issue will consider many target including the size the robot. Hexapodbased robot namely COMET was developed to focus on large disaster rescue with uneven and rough terrain environment. Then, the performance of walking is focused because it is significant. In oder to improve the capability to walk on unknown rough terrain, in our laboratory, researches in all aspects has been done until now. However, it is difficult to achieve the goal at the present stage. Therefore, in this paper, the detection of ground surface condition that is most influential to walk is considered. New detecting motions using estimated force of foot tip of COMET-IV are made for detection of terrain. The detecting motions are as follows, ● A behavior that examines whether the terrain can stand against the weight of body. ● A behavior that judges whether the robot can walk on the target position or not. In addition, experiments were done with the motions, and the effectiveness of the behaviors are confirmed by the results.
