抄録
We have been developing a harvestman-like hexapod walking robot ASURA I. Modeled on a harvestman in nature, we introduced the concept of mobile form that has long legs and compact body to ASURA I to enhance mobile performance on rough terrain. We introduced long legs driven by parallel link mechanism, and link length was important for joint torque and angle. This paper describes compact body design based on standard gait analysis. First, we discussed standard gait design to estimate the required torque and angle of joints. Then, we verified the standard gait by dynamics simulation and determined parallel link length. Finally, we designed leg arrangement and body structure, and constructed compact body of 335 mm in trunk length.
