Abstract
In order to expanding movable range of life support robots, this paper proposes a robot having a new gait generation which is capable of moving on winding staircase. The gait uses a Central Support leg (CS leg) having a DOF in addition to four simple legs. Main futures of the gait are that stability margin is increased by walking with CS leg. Moreover, turning at narrow space is possible with low DOF (2×4DOF for four simple legs+2DOF for CS leg=10DOF). In addition, it is possible to ensure sufficient stability margin without moving the center of gravity, and performs static walking. We designed the robot having those legs to achieve this gait generation. In particular, the CS leg has a DOF of perpendicular extension which is realized by telescopic mechanism using the timing belt fixed to the leg and body.
