アクティブサスペンション型脚モジュールを用いた4脚走行ロボットの走行制御

Abstract

Four-legged animals achieve high speed and high efficiency movement by changing their gait according to speed and terrain. Consequently, it can be assumed that such movement is possible by a four-legged running robot based on reproducing the various gaits of four-legged animals. We are developing an active-suspension mechanism consisting of a spring and a DC motor on the leg module to imitate the legs of animals and studying the high-speed running of a four-legged running robot. This mechanism strengthens the instantaneous power of jumping and controls dumping at landing, although the springs and motors are mutually constrained and it is difficult for them to demonstrate maximum force. In this study, we examined the optimal spring for an active suspension leg module. Furthermore, we evaluated the running speed and power consumption of a trot and a bound gaits using the selected spring.