エアコンプレッサを内蔵した跳躍着地可能なテンセグリティ肩関節を有する四足口ボットの開発

抄録

In disaster site such as the earthquake and nuclear accident, the autonomous quadruped robots are required for the long-term rescue activities. In order to search the victims inside collapsed buildings, the robots requirements are follows; the built-in power source for the independent drive without the power cable, the jumping mobility for uneven terrains, the lightweight so that it could not promote the further collapse. In this research, we focus on the pneumatic driven robots, because these robots are the higher power-to-weight ratio compared with the electric and hydraulic driven ones. As the goal of our research, we propose the robot concept called AeroCat. The AeroCat have the desirable property such as running,jumping climbing and landing for rescue activity.However, joints will be destroyed by impact at landing. Therefore, we developed a shock absorbing mechanism based on the tensegrity structure.