転倒に拘らない点対称な脚型移動ロボットの設計と実機実験

抄録

Mobile robots are greatly expected to play an active role in rescue work and recovery at disaster sites. In particular, mobile robots had better possesses advanced mobility capabilities in a disaster situation. However, disaster-stricken areas are often uneven terrain with many steps and obstacles, so that robots are essentially able to operate in such environmental conditions. Many existing mobile robots present prescript line symmetric or plane symmetric structure, and are aimed to avoid falling down. In this study, we develop the multi-legged type mobile robot that can operate even if it falls down by making its structure point symmetric. As a point symmetric robot, we apply a regular octahedron shape to the robot configurations, as well as verified symmetrical functions realize locomotion, object grasping, and those control, regardless of its posture.