1A1-T05 エンジン駆動によるエアコンプレッサを内蔵した空気圧四足ロボットの開発

抄録

In disaster site such as the earthquake and nuclear accident, the autonomous quadruped robots are required for the long-term rescue activities. In order to search the victims inside collapsed buildings, the robot's requirements are follows; the built-in power source for the independent drive without the power cable, the jumping mobility for uneven terrains, the lightweight so that it could not promote the further collapse. In this research, we focus on the pneumatic driven robots, because these robots are the higher power-to-weight ratio compared with the electric and hydraulic driven ones. However, the independent drive of the pneumatic robots are difficult, because the external compressor more than 100kg is required. Thus the purpose of this study is development of quadruped robot equipped with engine-driven air compressor. We developed the small-sized and light-weighted compressor driven by the engine which is used for the radio-controlled car. In this paper, we evaluated our compressor and the developed robot, individually.