主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2018
開催日: 2018/06/02 - 2018/06/05
In this paper, we develop a three-legged robot without a brain. This tripedal walking robot generates gait patterns adaptively and autonomously with no sensor, or controller. The key of this adaptability is to utilize a “weakness” of low-torque motors in each leg. Each motor drives leg joint and adjusts its own phase in response to a reaction force from the ground. As a result of the dynamics of body–motor–environment interaction, the weak motors sync each other.