タフロボット用油圧シリンダを用いた耐衝撃脚機構

抄録

Robots have a problem of locomotion in extremely rough terrain. Legged robots have a high locomotive ability because it is possible to select a landing point discretely. However, a combination of electric motors and speed reducers adopted in many legged robots has a problem such as low shock resistance. Because of low shock resistance, it is difficult for legged robots to operate motions with high shock such as jump off. Therefore, a leg mechanism which can be applied to legged robots and has high locomotive ability is required. In our previous researches, we developed a hydraulic cylinder for robots. In this paper, we focused on the controllability of this hydraulic cylinder and compared the controllability with the conventional product through measurements of damping performance. We also conducted an experiment for measuring the damping performance with a prototype of the leg mechanism using the hydraulic cylinder.