哺乳類型/昆虫型ロボットにおける静歩行の消費パワー解析

抄録

The leg configurations of multi-legged robots are classified into mammal and insect types based on the arrangement of the degrees of freedom. However, few studies have quantitatively compared the two leg configurations. We compared the power consumption of static walking while changing body height and foot trajectory. The results of the analysis showed that the insect-type configuration is able to reduce the power consumption over a wide range of foot positions. These results indicate that the insect-type configuration is suitable for situations where the ground is rough and a stable continuous power supply is not expected, such as at disaster sites, due to their ability to reduce the power consumption even in various walking postures.