著者

島野 諒 戸森 央貴 宮永 隆史 中村 太郎

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._2A1-X01_1-_2A1-X01_4, 2014-05-24 (Released:2017-06-19)

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Recently, the development of mobile robots is actively pursued. These robots are expected to have high mobility, allowing them to work in various scenarios such as rescue and exploration. Therefore, we focused on the hexapod robot for stable operation in an irregular terrain. We developed a leg using the parallel linkage mechanism and pneumatic rubber artificial muscles, and constructed a model of the legs. The model reproduced the experimental result. Then, we developed improved hexapod robot which can support its weight mechanically using these legs. Furthermore, the robot is assembled all system for walking. Also, we demonstrated that the robot could walk with high load of 300[N].