受動的に把持可能な不整地移動脚ロボットのための外付け可能足部

―歩行可能な不整地と足部設計パラメータの定量化―

抄録

We have been proposing a passively driven gripping foot that can be attached to any mobile legged robot, which enables the robot to move in rough terrains with uneven surfaces. In the previous report, we have shown a prototype foot design that grips bumps or rocks on a floor from side by nails pushed by the robot’s weight. In this report, we show the relationship between the characteristics of walkable terrain and the design parameter of the foot. First, we prepared a small experimental stony slope. Then, we measured the average roughness of the surface on the slope by using 3D measurement from the reconstruction of multiple images. The performance of the robot to walk by the foot was tested on various inclination of the slope. As a result, it was found that the diameter of the proposed legs should be set to about 4 times as large as the average roughness of the surface to climb on the slope up to 7 degrees inclination.