Development of Quadruped Walking Robot TITAN XI for Steep Slopes - Slope Map Generation and Map Information Application -

摘要

We discuss the generation of maps of steep slopes covered with concrete frames and map information application for a quadruped walking robot, TITAN XI. Suspended by a pair of tethers, the robot requires map information of the environment, localization for walking and tether control for weight compensation. After introducing TITAN XI, we propose map generation using Topcon’s Total Station range-finder, robot self localization, and weight compensation by tether control based on map information using one Total Station. We conclude with a review of the results of walking experiments on an undulated slope using TITAN XI.