TITAN VII: quadruped walking and manipulating robot on a steep slope

摘要

Design and control of a new quadruped walking and manipulating robot TITAN VII which can be operated on a steep slope is discussed. We first consider the optimal design of a driving system of legs consisting of prismatic actuators so as to produce large output power with minimum weight based on the concept of coupled drive. Secondly, we discuss the criteria for stability on a slope and introduce a new type of extensible leg to maintain high terrain adaptability on a sleep slope. Thirdly, we mention a passive terrain adaptive foot mechanism consisting of a "rocker bogie sole" based on the concept of a connected differential mechanism and including an ankle installed sensor mechanism. The validity of these newly introduced mechanisms has been investigated through walking experiments of the prototype model TITAN VII, including climbing a slope of about 30 degrees using the intermittent crawl gait.