油圧パワーパックとGNSSを用いた油圧4脚ロボットの自律歩行

抄録

We developed the hydraulic quadruped robot, “Tough Runner”, for the purpose of opening up the possibilities of hydraulic quadruped robots. In this paper, we demonstrated that this robot is able to accomplish simple missions, specifically reaching a target from an arbitrary position by being combined with the Global Navigation Satellite System (GNSS) and INS. The hydraulic drive system has some advantages such as high F/M ratio, and high back drivability. This robot is composed of hydraulic cylinders and a hydraulic power pack. Both of them are developed by our laboratory, and also installed with a GNSS receiver and an antenna in order for self-localization. That makes it possible to carry out missions autonomously.