Development of quadruped robot with variable walking mode

Research Project

Project/Area Number	24560162
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Research Field	Design engineering/Machine functional elements/Tribology
Research Institution	Nippon Institute of Technology
Principal Investigator	HIGUCHI Masaru 日本工業大学, 工学部, 准教授 (40293039)
Project Period (FY)	2012-04-01 – 2015-03-31
Project Status	Completed (Fiscal Year 2014)
Budget Amount *help	¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000) Fiscal Year 2014: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000) Fiscal Year 2013: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000) Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Keywords	歩行ロボット / 機構設計 / 脚機構 / 足部機構 / 歩行安定性 / 最適設計 / 4足歩行ロボット / 減速機
Outline of Final Research Achievements	New quadruped robot, which has variable walking modes, so-called tall mode, short mode, SCARA mode and stair mode, has been developed. A leg of the robot has 3D.O.Fs with three rotational joints connected in series like SCARA and achieves the GDA. Due to the wide motion range of the legs, the robot can make stable going up/down motion on the stairs and walk on horizontal floors high-efficiently. The prototype and the miniature robot which has the proposed mechanism have been designed and manufactured.