脚型壁面歩行ロボットの脊椎部の自由度と胴体軌道の関係についての検証

抄録

Our previous research has focused on the development of quadruped wall-climbing robots that use suction cups. However, these robots have only been successful in climbing slopes to a limited extent due to their simplistic forward control strategies. This study aims to improve the walking strategies of quadruped wall-climbing robots by considering their body design and expanding their range of motion. Among different attachment methods, suction cups are preferred for their adaptability on smooth surfaces. However, the use of suction cups limits the degrees of freedom for the supporting legs during movement. To address this issue, this study suggests adding extra degrees of freedom to the robot’s body to compensate for this limitation, thereby increasing redundancy in the walking strategy. The first step involves simulating the changes in torso trajectory when introducing additional degrees of freedom to the robot’s spinal section.