Development of Pneumatic Quadruped Robot

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  • 空気圧駆動型4脚移動ロボットの開発
  • 空気圧駆動型4脚移動ロボットの開発(第1報)外乱オブザーバの導入によるモーションコントロール
  • クウキアツ クドウガタ 4キャク イドウ ロボット ノ カイハツ(ダイ1ポウ)ガイラン オブザーバ ノ ドウニュウ ニ ヨル モーションコントロール
  • (第1報: 外乱オブザーバの導入によるモーションコントロール)
  • (1st Report: Motion Control by Introducing Disturbance Observer)

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We develop a quadruped walking robot, assuming human cooperative tasks in construction building or rescue activity in disaster environment. Pneumatic cylinders are employed as driving actuators since they have explosion proof and inherent compliance. Owing to the compliance feature, external force is easily estimated based on the inner pressure of the cylinder. We provided a compliance control system on each leg based on the estimated floor reaction force with disturbance observer. After giving an overview of the developed quadruped walking robot, we describe the kinematics, statics and control system of each leg. We propose a motion control strategy based on the floor reaction force estimated using a disturbance observer. The validity of the proposed control system is verified through some experiments.

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