全側面歩容を実現する多脚移動機構

-単一モータで脚の自由な配置を実現する設計-

抄録

A mobile robot that walks on a sea floor, muddy field, and windy rough terrain surfer from unexpected roll over. For this, we proposed an approach that allows the robot to continue to walk to the same direction even if it rolls over. The proposed structure is the one having legs around the longer direction of the body. To allocate legs all around the body, sufficient large space is needed inside the robot body. In this sense, it is better to drive all the legs by only one motor with some power transmission mechanisms. However, it is not known whether the 3-D gaits are possible and how it should be designed for a given configuration by synchronized one motor drive. To this, we developed a design method which is based on a graph coloring problems. This paper describes the method and the examples for 3 and 4 faces configuration.