Walking Figure Generating in Consideration of Ground Reaction Force

Abstract

In the case of using a multi-legged robot in a disaster area or a similar location, it is necessary to grasp the condition of the road surface by estimating the ground reaction force for a coordinated a gait generation, as a climbing up and down steps. In this research, a ground reaction from the road surface adding to a foot of a hexapod robot is estimated by the disturbance observer. Moreover, a sensorless gait is generated by perceiving a situation of road surface and a position of robot. In this report, the motion equation of an unipod in the hexapod robot is developed by Lagrange’s method. Furthermore, the ground reaction force is estimated by the developed disturbance observer.