振動伝播を利用した脚ロボットの軟弱地盤移動性能に関する実験的研究

抄録

In recent years the leg typed rovers has attracted attention as a exploring rover with high running performance. However when the leg typed robot walks on a rough terrain with slope, problems are found. This problems are breaking rough terrain and slipping the leg typed robot. In this study, we focus on this problems and propose solution. We focus on vibrations and attach the vibrating parts to the legs to give vibration to the ground. In this method, two effects are expected; increasing the shear strength of the ground. Increase of sinkage of the legs. First, in order to confirm effectiveness of the solution, we confirm changes in ground when vibrating the ground. Next, multi-legged robot mounted a vibration generator is made. Effect of proposed solution are confirmed using multi-legged robot. Experiments of walking on rough terrain with slope are carried out using a multi-legged robot. In experimental results, the effectiveness of the proposed solution was confirmed.