1A1-R05 Study of Quadruped Robot with spherical Shell : Third report: Realization of the rotational movement with the spherical shell(Walking Robot)

Abstract

Many moving robot to search in uneven ground has been developed. However, carrying robots in uneven ground is dangerous. Operators may injure him during carrying in. If robots are able to throw in uneven ground, it is safety and easy to carry robots. The purpose of this study is to develop a durable robot. Thus, we developed quadruped robot with spherical shell. And for the realization of rotational motion using a spherical shell is the purpose of this study was to calculate the joint angle of the appropriate leg from the coordinates of the feet in the posture of the target by solving the inverse kinematics.