Development of Quadruped Achieving High （实现高发展的四足动物）.pdfVIP

The 3rd International Conference on Design Engineering and Science, ICDES 2014 The 3rd International Conference on Design Engineering and Science, ICDES 2014 Pilsen, Czech Republic, September 1 -3, 2014 Pilsen, Czech Republic, August 31 鈥 September 3, 2014 Development of Quadruped Achieving High Terrain Adaptability (DOF Configuration Consideration for Redundant Leg Structures) Takuya KITAMURA*1 and Yusuke OTA*1 *1 Department of Advanced Robotics, Chiba Institute of Technology 2-17-1 Tsudanuma, Narasino-shi, Chiba 275-0016, JAPAN s0926047@gmail.co.jp, yusuke.ohta@it-chiba.ac.jp Abstract In the literature, a number of approaches for large- Legged locomotion is suitable to move on uneven terrain. step climbing can be found, mostly featured by However, advantages of legged robots have not been 1) Extendable legs. An extend leg mechanism makes achieved yet. In this study, a relationship between static stability to increase on slope or uneven terrain combinations of the joints and generated force or torque [3]. will be discussed. Legs with four joints were considered. 2) Active ankle joints. Many walking robots are designed These legs have a possibility to adapt a rough terrain without ankle joints or with passive ankle joints under because of their redundancy. Redundant joint can change the pre-assumption that foot of quadr