Development of a quadruped walking robot to work on steep slopes, TITAN XI (walking motion with compensation for compliance)

摘要

For large robots, the decrease in position accuracy that comes from compliance of the robot system poses significant problems. We propose a new compensation method to improve position accuracy of leg mechanisms of walking robots. With this method, compliance data that is measured manually in advance is used. At present, TITAN XI - a practical quadruped robot for use in construction - is under development, and this compensation method is being applied to its control system. In this paper, the measurement of the compliance of the leg system using a hydraulic cylinder, the bending of the legs in walking motion, and the walking motion with compensation are shown.