多段伸縮機構を有する重複関節型4脚歩行ロボットの開発

―第一報：脚部機構の設計―

抄録

A robot that acts in a human living space needs the ability to surmount plains, steps, irregular terrain. I thought that a walking robot with high running performance was more suitable. An overlapping articulated walking robot having degrees of freedom in which the first joint axes of the lower leg and the upper leg are arranged on the same straight line acquires a stride which takes full advantage of the movable range of the leg without enlarging the robot It is possible to do. Based on the above, this research proposes an overlapping articulated quadruped walking robot adaptable for stair climbing as a representative obstacle in human living space. In this paper, we report the fact that legs with multistage telescopic mechanisms indispensable for that purpose were produced and verified.