支持脚緩衝領域を用いた遠隔操作のためのトライポッド歩行制御

Abstract

In this paper, a new method setting workspace for tripod gate is proposed to realize smooth walking. Generally, frequent stepping change of the leg occurs when turning direction near the movable limit of the work space. To avoid the stepping request, the buffer area is provided to the outside of the work space of the support leg. The proposed method is implemented to the real hexapod robot, and the effectiveness is shown by comparing the energy consumption