四脚ロボットの不整地踏破における生物規範型体幹構造の効果

抄録

This paper proposes novel trunk mechanism referring quadruped animals that has redundant and viscoelastic joints. Simulation model and physical quadruped robot are built, and the effect of the trunk mechanism is observed by letting the robot walk on various types of the rough terrain. Simulation results show that the robot equipping with multiple joints provides wider range of the trunk elasticity that realizes higher rate of successful locomotion, and physical robot demonstrates that the robot walks over single convex. These results suggest that a proper design of the trunk mechanism provides robust locomotion on the rough terrain than present trunk mechanism as a rigid body.