Abstract
This paper aims to determine an optimal structure for a quadruped robot, which will allow the robot's joint torque sum to be minimised. An animal's characteristic limb length ratio is a vital part of its overall morphology and the one that enables it
Highlights
There have been a number of research efforts involving robots that utilise locomotion techniques similar to those used by animals (Hirai et al 1998; Nakanishi et al 2000; Raibert et al 1986)
If we focus on a two-dimensional plane with the constant Rear Leg Length (RRL), it can be confirmed that the slope angle minimising Cs will be small as RRL is larger
Experimental results confirmed that Csex is close to Cs when the slope angle is −15◦ to 15◦
Summary
There have been a number of research efforts involving robots that utilise locomotion techniques similar to those used by animals (Hirai et al 1998; Nakanishi et al 2000; Raibert et al 1986). In conventional research of quadruped robots moving on a slope, gait planning aimed at maintaining high stability or optimisation of moving speed on a slope is discussed, and specialised robots are developed to work on such slopes. The purpose of this research is to determine the limb length ratio of a robot designed to require a minimum amount of total joint torque when walking on a slope. Since animals evolved their leg lengths and shapes based on their living environments, it can be granted that a robot should have an optimal link length for each slope angle. This paper reports further experimental results and considerations in order to supplement the previous weak results
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