可変構造型移動ロボットの制御に関する研究 : 第2報, 脚一脚型モデルの移動動作と制御

抄録

We have developed a variable-structure-type locomotive robot which may be given one of three structural variations for locomotion according to the working environment or application of the robot. In the previous paper, we described the concept of the variable-structure-type locomotion robot, the controlling methods and the experimental results on the first variation. In this paper, the leg-leg type, which is a kind of quadruped working robot, is reported. Two forms of walking are proposed. One is the "rub" gait, in which each pair of legs is always in contact with the ground and walks by rubbing or slipping by moving the fore- and hindlegs alternately. Such a locomotive style is advantageous in maintaining stability of the body. The other is the "bound" gait, in which two pairs of the legs kick back against the ground simultaneously in order to, propel the robot. It is confirmed experimentally that both walking forms are useful for the leg-leg type and high-speed translation can be accomplished by the "bound" gait. The control method of the width of a step proposed here in the "bound" gait proved effective in providing the robot with constant width-step walking independently of the condition and slope of the ground.