馬型4脚ロボット後脚の軽量化

抄録

This paper reports the design of the hind legs of the four-legged robot we are building. Each hind leg of the robot has three joints, and a motor to drive the ankle joint, which is the most distant from the body, was installed on the link between the knee and the ankle joints. However, a heavy motor on such a remote position from the body increases the moment of inertia of the leg, which prevent fast movement and demands the motor driving the hip joint a large amount of torque. To solve the problem, we adopted a new design, in which the motor for ankle joint was installed in the body. We experimentally confirmed that the error of the ankle joint decreased.