2A2-O07 9自由度6足歩行ロボットの開発

抄録

In this paper I will introduce six-legged walking robot consists of g degrees of freedom. This robot is constituted by a servo motor, the total weight is 614[g]. For moving the general feet in any position in the three dimensional space in the walking robot consists of one leg 3 degrees of freedom. The robot consists of three frames, it is a reduced freedom configuration. Less restriction of the ground point selection than reduced freedom robot consisting of two conventional frames, it is possible to perform the turning and straight. Overall degrees of freedom for configuring the robot can improve the loading performance, and has a design achieve energy saving.