高出力運搬能力を備えた四足歩行ロボットKirin
Kirin: A Quadruped Robot with High Payload Carrying Capability
直動式準ダイレクトドライブ脚を採用した50kg級四足ロボットKirinを開発し、静止時125kgの持ち上げと動的トロット時50kgの運搬を実証した。
著者: Yueheng Zhou, Ming Liu, Chaoyang Song, Jianwen Luo
分類: cs.RO
原文アブストラクト
The quadruped robot is a versatile mobile platform with potential ability for high payload carrying. However, most of the existing quadruped robots aim at high maneuverability, highly dynamic and agile locomotion. In spite of this, payload carrying is still an indispensable ability for the quadruped robots. Design of a quadruped robot with high payload capacity is yet deeply explored. In this study, a 50 kg electrically-actuated quadruped robot, Kirin, is presented to leverage the payload carrying capability. Kirin is an characterized with prismatic quasi-direct-drive (QDD) leg. This mechanism greatly augments the payload carrying capability. This study presents several design principles for the payload-carrying-oriented quadruped robots, including the mechanical design, actuator parameters selection, and locomotion control method. The theoretical analysis implies that the lifting task tends to be a bottleneck for the existing robots with the articulated knee joints. By using prismatic QDD leg, the payload carrying capability of Kirin is enhanced greatly. To demonstrate Kirin's payload carrying capability, in preliminary experiment, up to 125 kg payload lifting in static stance and 50 kg payload carrying in dynamic trotting are tested. Whole body compliance with payload carrying is also demonstrated.
