1A1-B14 Development of a Quadruped Walking Robot to Work on Slopes, TITAN XI : 11th report: Development of a Small Scaled Test Model

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  • 1A1-B14 4足歩行型法面作業ロボットTITAN XIの開発 : 第11報:小型動作検証モデルの開発

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A 1/20 scaled electric-powered test model robot of the quadruped walking construction robot TITAN XI has been developed to conduct experiments and trainings in lower cost and easier. The legs are driven by RC servo motors and have the same D.O.F. configuration and proportion. Suspension tether winded by motor-driven winches are force-controlled by newly developed tension sensors for steep slopes. A robot controller which consists of the same numbers of joysticks and switches was developed for manual control. Test model is controlled by three SH-2 (SH7047) microcomputers and they are communicating via CAN interface. By automatic and manual control, the robot climbed up a steep slope model and step over obstacles.

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