1A2-P01 Active-Suspension-based 4-Legged Running Robot with Anteroposterior Asymmetry in Body(Walking Robot (2))

Abstract

We have been studying 4-legged robots with active-suspension-based leg modules with spring elements. Our 4-legged robot doesn't have knees, but has a linear motion mechanism. It has two or three DC motors per leg for swinging and jumping, and runs by controlling them. This time, aiming to improve the velocity of movement, we designed and prototyped a new robot with 10 pcs motors. We analyzed the torque required for each leg, and gathered that stronger torque was necessary for rear legs' movement. As a result of analysis, we designed a robotic body with anteroposterior asymmetry. We also considered anteroposterior asymmetry in the body at the robotic control. We present the design details and running experiment.