主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2023
開催日: 2023/06/28 - 2023/07/01
A new design of bipedal walking robot that utilizes 6-dof parallel link mechanism for each leg is proposed. Reducing the weight of the legs is a crucial requirement for realizing rapid walking and fall avoidance involving multiple stepping. The parallel link design enables embedding all leg actuators in the torso and thereby significantly reduce the weight of the legs. The result of basic kinematic analysis of the proposed leg mechanism is reported.