脚ロボットのための自重支持機構

抄録

For robots that play an active role in our living space, it is better to use legged robots that can move to places where wheeled robots cannot. However, in general, leg robots have a poor energy efficiency. Therefore, we consider a quadruped robot with a self-weight support mechanism to improve it. This mechanism constrains only the vertical displacement of the toe. On a terrain with small unevenness, the mechanism maintains the vertical displacement of the body. However, there is concern that the vertical height at the base of the legs may actually be decreased. In this paper, we use a prototype of the self-weight support mechanism to clarify the model of its height decrement.