Design of a quadruped walking vehicle for dynamic walking and stair climbing

摘要

This paper discusses the design of a quadruped walking vehicle for walking dynamically at high speed and climbing ordinary stairs (30-40°). To realize these requests, new mechanisms are introduced, which are (1) a prismatic joint leg that does not interfere with the steps of a staircase and which performs a cylindrical coordinate motion with good energy efficiency, (2) an articulated body structure having a node that copes with a steep staircase, (3) a dual mode transmission system which can swing a leg with high speed and can generate a large supporting force, and (4) a non-linear type foot force sensor having a wide dynamic range. The effectiveness of these considerations is verified by walking experiments using the trial-manufactured TITAN Ⅵ.