ロボットやヒトの泥濘地歩行を容易にする空気吐出ブーツの試作

抄録

In order to operate a multi-legged robot in muddy area, a special control method for mud walking will be required in addition to a structure that can withstand large loads. In particular, the pressure resistance when pulling up a rod-like leg in a viscous fluid is large, which is a serious problem on mud walking. In this study, we proposed a method of installing a tube that actively supplies compressed air to help the robot and human walk in the mud. In this report, we measured and evaluated the force applied to pulling up in a cylinder and boots moving up and down in a gel liquid.