ザトウグモ型6脚歩行ロボットASURA2号機の開発

―第1報：二重干渉駆動による脚機構設計―

抄録

We have been continuously developing a hexapod walking robot based on the mobile form of a harvestman because its mobile form consisting of long legs and a small body is advantageous for locomotion on complex uneven terrain. In this report, we showed the concept of second prototype of a harvestman-like hexapod walking robot ASURA-II first. A new design principle called "double-coupled drive" has been introduced to the drive system of the leg mechanism to achieve a long leg structure and a wide range of joint motions. Next, the details of the design of the leg mechanism using double-coupled drive, chemical fiber wire, and the principle of dynamic pulley were described. Finally, the leg mechanism analysis conducted to obtain design guidelines were reported.