軟弱地盤における振動を用いた脚型機構の移動方法に関する研究

抄録

Legged robots have high potential mobility. They are spreading the movable area by improvement of technology. For example, these are rough terrain such as farmland and disaster area. In recent years, legged robots are expected as a substitute for people ’s work. These work environments are loose soil such as sand, soil and snow. Therefore, these robots must walk in such environments. In this study, problems of leg robots on loose soil were investigated by experiments. In the results, it was confirmed that the leg slipped the ground and the ground collapsed. To solve these problems, movement method using vibration by leg mechanism in loose soil was proposed. It has been confirmed that the shear strength of loose soil is increased by vibration. Finally, the performance of the proposed movement was verified by experiments.