電動二輪車の電装系を応用した荷重分離型三次元脚駆動リンク制御

抄録

We have developed a new leg mechanism that uses a classical link mechanism for the legs, separating the vertical load related to weight retention and the horizontal load related to propulsive force against the aircraft. In this study, we developed a subsystem that performs phase control of one leg by applying the control electrical system for inexpensive electric motorcycles, which have become widely available in recent years, to the legs of the "BigGoat," which have the highest degree of mechanical completion, in view of the characteristics of this leg drive link mechanism that can use a power source for a vehicle. We evaluated the possibility of constructing a subsystem that performs phase control of one leg by applying the control electrical system for low-priced electric motorcycles.