Tham khảo tài liệu 'intech-climbing and walking robots towards new applications part 11', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 300 Climbing Walking Robots Towards New Applications 2. Mine Detecting Six-legged Robot COMET-III and CAD Model Figure 1 shows the COMET-III mine detecting six-legged robot which was developed at Chiba University. Figure 2 shows a 3D CAD model of COMET-III generated using mechanical analysis software. One leg of the robot has three degrees of freedom and each joint is driven by a hydraulic actuator. The ankle of the leg has two degrees of freedom so that the sole of the entire bottom surface of the foot touches the ground. The parameters of COMET-III are shown in Table 1. The mass of the robot is approximately 1 200 kgf . The width of the body is 2 500 mm and the length of the body is 3 500 mm . The height of the body is 850 mm . An attitude sensor is attached to the body of COMET-III to detect the pitching and rolling angles. In addition a six-axis force sensor is attached to each leg. In the present study we verify the validity of the proposed attitude control method using a 3D model. Fig. 1. COMET-III mine detecting six-legged robot Fig. 2. 3D CAD model of COMET-III Weight 1 200 kgf Width of the body 2 500 mm Length of the body 3 500 mm Height of the body 850 mm Table 1. Parameters of COMET-III Attitude Control of a Six-legged Robot in Consideration of Actuator Dynamics by Optimal Servo 301 Control System 3. Walking Pattern In the present study it is desirable that there be little risk of the robot falling down so that the attitude control method is examined. Therefore static walking which has high stability is adopted. The effectiveness of the proposed method is verified by the walking pattern of five supporting legs. The leg numbers of a six-legged robot are shown in Figure 3. Figure 4 shows the walking pattern by five supporting legs. The period of the swing phase is 3 s and one period of the gait is 18 s . In Figure 4 the white area indicates a swing phase and the black area indicates a supporting phase. Therefore the order of the swing motion of the legs is
