3 0 0 0 OA 多足歩行ロボットの世界
1 0 0 0 OA 階段登降のための自立形6脚走行ロボットの設計と制御
- 著者
- 小谷内 範穂 安達 弘典 中村 達也 中野 栄二
- 出版者
- The Robotics Society of Japan
- 雑誌
- 日本ロボット学会誌 (ISSN:02891824)
- 巻号頁・発行日
- vol.11, no.6, pp.918-928, 1993-09-15 (Released:2010-08-25)
- 参考文献数
- 17
- 被引用文献数
- 3 6
A self-contained type hexapod walking robot was developed in Mechanical Engineering Laboratory. It is called MELCRAB-2. This hexapod has specific features both in the mechanical design and in the control way. This paper provides a few significant guideline to design the self-contained hexapod walking robot from the point of view about the stair climbability, turning mobility, efficient foot force delivering based on the two decoupled actuation ways, GDA (Gravitationally Decoupled Actuation) and MDA (Motion Decoupled Actuation) . An approximately straight line linkage is used in the leg mechanism of the MELCRAB-2 to satisfy both of GDA and MDA. The inverse kinematics of the approximately straight line linkage was solved for position control. Tactile sensors and proximity sensors are installed on the front side and back side of each foot to detect obstacles and walking environments. Control algorithm with many motion procedures to negotiate the stairs and walking environments was developed. MELCRAB-2 could climb up the experimental stairs with the same dimensions as the real buildings by using that algorithm. MELCRAB-2 is the real self-contained hexapod robot actuated by electric motors, and it can walk with the fast speed owing to GAD and MDA. compared with the past developed walking machines.