2A2-T03 Development of ASURA I : Harvestman-like Hexapod Walking Robot : 1st Report : Leg Mechanism Design and Leg Driving Experiment(Walking Robot (2))

Abstract

We have been developing a harvestman-like hexapod walking robot named ASURA I. Modeled on a harvestman in nature, we introduced the concept of mobile form that has long legs and small body to ASURA I to enhance mobile performance on rough terrain. This paper describes fundamental leg mechanism design using special parallel link mechanism to drive leg joints powerfully and effectively. First we discussed design problems of leg mechanism in detail: leg length, DOF distribution, actuator selection, leg driving system. Then, we showed the prototype leg of 1.30 m in length and 2.98 kg in weight. Finally, we tested some basic performance using the prototype and successfully demonstrated very basic motion.