不整地における4足ロボットの足探り動作を用いた足場の認識と歩行

抄録

When a legged-robot walks on an irregular terrain such as a stricken area, some footholds may be collapsed by force, that the robot generates for walking, and consequently the robot stumbles and falls. We propose “leg-grope” as a method to detect the necessary reaction force for walking without stumbling and falling. We demonstrate the effectiveness of proposed method by experiments.