Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 29, 2024 - June 01, 2024
An articulated mobile robot with an active torsion mechanism can generate the walking gait of a lizard by shifting the phase of its torsion angle and flexion angle. In this study, the effects of the joint positions on walking motion were verified by simulation tests. As a result, it was found that walking performance is better when the torsion joint is at the same height as the wheel axles and the flexion joint is positioned forward of the center between the front and rear axles. In addition, the effectiveness of the walking motion in step-climbing and on a sloping sandy terrain was verified through experiments.
