脚移動ロボットの不整地移動における安定歩行のための足底機構に関する研究

抄録

This paper describes the study on a legged mobile robot foot sole mechanism for use in unknown rough terrain movement. The mechanism has a structure consisting of three toes, and includes frictional locking and unlocking mechanisms by parallel links. The mechanism levels the bottom of the legged mobile robot’s foot by using the three toes when on unknown rough terrain. To stabilize the foot sole of the legged mobile robot on a level surface, the frictional locking and unlocking mechanisms connected to the three toes are used for the foot sole mechanism. Stable walking control of the legged mobile robot is simplified by the foot sole mechanism we developed.