著者

妻木 俊道 阿部 誠一郎 千葉 健吉

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.24, no.7, pp.851-860, 2006-10-15 (Released:2010-08-25)

参考文献数

17

被引用文献数

4 5

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A 6 legged walking vehicle composed of a pair of leg units each of which has three expandable soles and has an ability to make rotational and traversable motion among the leg units is made. It is developed to realize a solid and reliable walking vehicle for practical uses in the near future with spread mechanical elements used in usual hydraulic construction machines. It weighs about 80 [kg] with all aluminum (including honeycomb frame) structure. Owing to mounted 24 [V] /12 [Ah] battery unit and wireless control system, it has no umbilical cord for power supply, control and communication. It is shown by the experiments that the vehicle can walk continuously over 1 hour, crossing many obstacles those maximum height is about 0.9 [m], and many irregular soil terrain.