2A2-G01 Development of Hydraulically Actuated Hexapod Robot COMET-IV : The 1st Report : System Design and Configuration

摘要

The aim of this research is to realize the autonomous locomotion robot in outdoor with hydraulically actuated hexapod robot for hazard operation. Our group had already developed hydraulically actuated mine detection hexapod robot COMET-III and locomotion skill on rough terrain. It appeared that locomotion speed and adaptability to the ground of the COMET-III was low. So we developed new type hexapod robot COMET-IV. We designed the main specifications: 1 km/h walking speed, 1 m vertical step and 20 degrees slope, omni-directional locomotion. In this report, we show the designed mechanical, electronic, control, hydraulic system and configuration of the COMET-IV. And finally we introduce the real experimental setup.