自然地形での多様な脚式移動のための多分割適応型足
Multi-segmented Adaptive Feet for Versatile Legged Locomotion in Natural Terrain
鳥に着想を得た腱結合脚に多分割の受動適応型足を取り付け、軟らかい・硬い地面での滑りや沈み込みへの耐性を評価した研究。
著者: Abhishek Chatterjee, An Mo, Bernadett Kiss, Emre Cemal Gönen, Alexander Badri-Spröwitz
分類: cs.RO
原文アブストラクト
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between joints, and multi-segmented feet. They run agile over all terrains, arguably with simpler locomotion control. Here we focus on developing foot mechanisms that resist slipping and sinking also in natural terrain. We present first results of multi-segment feet mounted to a bird-inspired robot leg with multi-joint mechanical tendon coupling. Our one- and two-segment, mechanically adaptive feet show increased viable horizontal forces on multiple soft and hard substrates before starting to slip. We also observe that segmented feet reduce sinking on soft substrates compared to ball-feet and cylinder-feet. We report how multi-segmented feet provide a large range of viable centre of pressure points well suited for bipedal robots, but also for quadruped robots on slopes and natural terrain. Our results also offer a functional understanding of segmented feet in animals like ratite birds.
