動歩行小型4足歩行ロボットの設計制御

抄録

3 actuators concentrated leg mechanism around thigh axis was designed for quadruped dynamic walk. The Dynamixel XM430-W350-T, ROBOTIS Co. Ltd., was selected as the higher torque actuator unit instead of Dynamixel AX-12A. Leg length was determined from the catalogue torque of Dynamixel XM430-W350-T and necessary torque to stand up statically and accelerate dynamically. Authors adopted Raspberry Pi4 as controller and developed an extension board for control. The trot gait walk was experimented.