樹枝への着陸を目的とした鳥型ロボットの後肢の開発と制御

抄録

Stable landing is an important issue for the safe operation of flying robots. It can be expected that the range of activities of flying robots will expand if landing becomes possible in places where it has not ever been possible to land.

In this research, in order to realize the landing of a bird-like flapping flight robot on a tree branch, we develop and control a leg robot that imitates the hind limbs of a bird which can grasp a tree branch. We significantly reduce the weight of the leg robot developed in the previous research in order to attach the leg to the flapping robot and to enable flight. Moreover, we consider whether more stable grasping is possible by adding talons and a mechanism for fixing tendons.