6脚移動ロボットにおける脚先測距センサを活用した踏み外しに対する踏み出し制御

抄録

Leg’s stepping off from a step leads a legged robot to falling down. This paper proposes a kind of reflex control against such the situation for a hexapod robot. The robot has a leg which has a distance sensor on the leg-tip and has a posture sensor on the body to detect leg’s stepping-off. When the robot detects stepping-off, it steps out the slipping leg forward. The amount of the stepping-out is determined based on a condition of kinematic and potential energy. The effectiveness of the proposed method is verified via experiments in which a stationary standing robot steps off a step.