整地斜面における6脚作業移動ロボットの転倒復帰

抄録

A method for working six-legged robots of returning from reversed state on flat slope is proposed. The robot rotates its body around the axis parallel to the slope. First the robot pushes the ground using three legs until the body lays on side. Second the robot draws other two legs touching the ground, thus returning to normal state statically. As a result of experiments, the robot rotating downward can return from reversed state on flat slope of 20 degree, and it rotating almost sideward can return on flat slope of 40 degree.