MULTI-LEGGED WALKING ROBOT AND SUBSEA MINING BASE EQUIPPED WITH THE SAME

摘要

To provide a multi-legged walking robot capable of stable spontaneous walking even on rough terrain.SOLUTION: A mining station 20 that is a multi-legged walking robot includes a platform 21 having upper and lower frames and an intermediate frame disposed therebetween, and a plurality of support legs 26 provided on the upper and lower frames, respectively. Each support leg 26 is configured to be capable of relative slide movement individually in a Z direction via a vertical movement mechanism. A foot 60 equipped with a grounding detection sensor for detecting the grounding state is provided at the lower end of each support leg 26. An intermediate frame 21M and an upper frame 21X are relatively slidable in one direction via a horizontal movement mechanism. The intermediate frame 21M and a lower frame 21Y can be slid relative to each other in a direction orthogonal to the one direction via the horizontal movement mechanism.SELECTED DRAWING: Figure 3