歩行と側転の移動形態をもつ6脚口ボットシステムの開発

抄録

This paper describes the development of a hexapod robot which can perform both walking and rolling locomotion with less actuators. For this robot, we have designed a mechanism to preserve the both capabilities, utilizing arc outer shell, without the necessity for additional resources beyond those required by walking. The effectiveness of the design has been verified through experiments, which has shown the developed robot can move 0.04 meters in per second with the walking and 0.25 meters in per second with the rolling. The experimental results demonstrate the potential of our developed hexapod robot to be able to adapt to different environments.