脚上げ機能を有する折り紙型脚式移動ロボットの脚部構造の検討

抄録

In this study, we proposed the origami-type leg structure with leg lifting ability by driving the base of the leg and utilizing the interlocking property of the origami structures. As an origami structure with interlocking property, we focused on the structure called “Oriceps” the tip of the structure moves back and forth by bending and unfolding the central fold line. We proposed dual half-Oriceps structure based on the Oriceps structure for origami-type leg structure with leg lifting ability. The output angle of each half-Oriceps structure was designed to increase the amplitude of the back-and-forth and up-and-down movements of the legs. The leg lifting of 84.1 mm was achieved by changing the angle of the central fold from 11.4° to 90° on a dual half-Oriceps structure, each with a tip length of 35 mm.