機械的拘束で自重を支持するエネルギー効率の高い四脚ロボット

―拘束機構を備えた四脚の設計―

抄録

Various quadruped robots have been developed in recent years. However, in order for quadruped robots to play an active role in our living space, it is necessary to improve their 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. In this paper, a simplified constraint mechanism is proposed for an actual quadruped robot and kinematics simulations are performed on the quadruped model.