６脚作業移動ロボットの直立全方向歩容

Abstract

An omni-directional static gait for our working six-legged robot is proposed. This robot can stand up with four lower legs and can use two upper legs as arms; its body is vertical. The robot walks with four legs statically in this upright posture. The center of gravity of the robot in upright posture is high. The robot inclines its body by moving up/down three support legs, thus shifting the center of gravity above the support polygon. Then the robot raises one swing leg, moves its body in any direction, and grounds the swing leg. The experimental results show that the robot can walk in any direction by the proposed method.