多様な屋外環境での移動を可能とする全側面多脚ロボット

―またぎ能力を改善する高ストローク疑似歩容リンクの実装と歩行実験―

抄録

To realize a strong and simple structured legged robot that continues walking after turning over, we have developed an all-side multiple-legged mechanism driven by a single motor. The mechanism comprises a driving worm shaft and multiple worm gears, which drives legs at all side directions by a pseudo leg linkage mechanism. Setting initial phases of all the legs to satisfy the solution of graph-coloring problems on a cylindrically connected graph, it was shown that the mechanism realizes a tripod-like gait at every direction. In previous reports, we used floating crank linkage and pantograph mechanism as pseudo leg movement. However, these pseudo legs were insufficient in realizing deep radial stroke. It was, therefore, difficult to perform stepping over action. This report shows a new pseudo leg linkage that gains roughly twice as high as the previous designs. Also, we show a driver design that integrates a coaxial planetary gear reduction mechanism.