著者

小峰 憲行 稲垣 克彦 稲葉 毅 増田 良介

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

巻号頁・発行日

vol.2004, pp.161-162, 2004-06-18

被引用文献数

1

著者

稲垣 克彦 小林 尚登

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.13, no.8, pp.1122-1129, 1995-11-15 (Released:2010-08-10)

参考文献数

9

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Autonomous walking machines are generally required in dangerous situation in which humankind cannot step. Thus, walking machines have to return to the base position by themselves, even if a leg is injured by some accidents. In such a case, hexapod walking machine has advantages, because it can keep walking by remained five legs. This paper proposes a new gait rule named injury-adaptive wave gait. The new gait is available for not only normal hexapod walking, but also injured hexapod walking. Additionally, to apply the new gait rule smoothly, we propose a new control strategy for leg motion control. The strategy uses a notion of distributed control to realize synchronized motion among six legs. By combination of the gait rule and the control strategy, walking machine can realize suitable gait for its walking condition.