3Dプリンタを用いた分布型接触センサの開発と事象駆動型6脚移動ロボットの反射制御

抄録

In this paper, we propose a method of manufacturing a tactile sensor using 3D printer and pressure sensitive conductive rubber. Furthermore, we propose to incorporate reflex control to avoid stumbling into Follow-the-Contact-Point(FCP) gait control. With this method, the robot performs reflex movement and prevent stumbling what is impossible with original FCP gait control. We verify whether the walking ability of the robot improves by introducing the sensor and reflex control on the real robot.