Development of Walking and Task Performing Robot with Bipedal Configuration

摘要

At present, robots are demanded not only for stationary use but also for tasks that require high mobility. However, in order to perform tasks and move using separate mechanisms, robots are required to have many degrees of freedom (DOF). As a result, robots become heavy and lose mobility. In this paper, an 8-DOF bipedal configuration robot with high tasking and moving performance was developed. In this robot, the DOF have been reduced as much as possible without hampering its mobility. And the basic function of locomotion was confirmed by a walking experiment.