2A1-J02 歩行可能条件と形式検証に基づくムカデ型多脚歩行ロボットのパラメータ群の導出(自律分散型ロボットシステム)

抄録

This paper proposes a novel method, based on formal verification, to automatically derive the parameters of a centipede-like multi-legged robot which is controlled based on Follow-the-Contact-Point (FCP) gait control. Centipede-like multi-legged walking robots are capable of making diverse motions, but the parameters concerned of the walk control and the mechanical configuration are difficult to be derived analytically because of the redundant degrees of freedom. Our proposed method is based on repetition of applying formal verification to each parameters set. We modelled the behavior of a centipedelike multi-legged robot based on the FCP gait control and derived ambulatory specifications for it. Finally, in order to show the usefulness, we plotted two parameters extracted from the various parameters which were derived from the proposed method.