Pelvis Mechanism for Multi-locomotion Robot in Nuclear Plant

摘要

There has been increasing interest in robot that can monitor inside of a plant and perform specific tasks after the Fukushima nuclear accident. Inside of plant, it consists of structures such as door, stairs, ramps and grating plate, which make wheel or track typed robot move difficult because they were designed to serve human. So leg-type robot can be regarded as a suitable form to monitoring and performing a particular task within the plant. Multi-locomotion robot is referred as robot that can perform several types of locomotion and choose the proper one [1]. Some robots have been developed as an inspiration from gorilla to be available multi-locomotion, biped and quadruped walking [2], [3], [4]. These robots move in a quadrupedal manner in situation that require stable, like walking on rugged terrain or slope. They walk in a bipedal manner in flat terrain where it is easy to move. Since biped and quadruped walking has characteristic difference, additional methods are required in order to create a multi-locomotion to apply them. In this research we suggest transformable pelvis mechanism to make a multi-locomotion robot walk efficiently.