泥濘地走行を想定した4脚ロボットの足形状および脚動作の設計

抄録

As Japan's agricultural population is decreasing and the area of farmland per person is getting larger, it is essential to mechanize and improve efficiency of agriculture. Therefore, we focused on legged robots. Legged robots have higher running through performance than wheeled or crawler robots. In this study, we focused on foot shape and leg trajectory for running in muddy terrain. We attached force sensor and foot to robot arm and measured reaction force when it stepped into muddy terrain. The results showed that grebe model had the highest reaction force. It was also found that the reaction force increased sharply with long horizontal elliptical trajectory and large rotation angle of foot tip. Based on these results, we designed quadruped robot.