不整地における6脚移動ロボットのジャイロセンサを用いた姿勢制御

抄録

Robots that can walk on uneven terrain are used in severe situations such as investigation work and rescue of lives at dangerous disaster sites. The purpose of this study is to propose a posture control algorithm for a hexapod to keep its body horizontally when moving on uneven terrain. In the proposed algorithm the Euler angles obtained from the gyro sensor mounted on the robot are controlled to converge to zero. The effectiveness of the proposed method is confirmed by experiments. It is expected to develop and operate at lower cost than robots using vision sensors or floor reaction force sensors.