セッションID: 2P3-G03
会議情報
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2021
開催日: 2021/06/06 - 2021/06/08
動歩行小型4足歩行ロボットの設計制御
詳細
主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2021
開催日: 2021/06/06 - 2021/06/08
Locomotive robots consist of wheeled, crawler type, and legged type. Dynamic walking can increase propelling velocity on the flat ground and get over the step. The Dynamixel AX12-A was used in the previous study to make the quadruped walk. The XM430-W350-T with high output torque was selected in this study. Leg length was limited from the torque of Dynamixel xm430-W350-T legs in statics analysis. Author tried to analyze the dynamics using the Lagrange equation to obtain the required torque. Author changed the robot hardware from Arduino to the more powerful Raspberry Pi4 and developed an extension board for control.
