Study on Autonomous Distributed Coordinate Function for Multi-Legged Robot with Adaptation in Unknown Environment

以适应未知环境的多足机器人为研究对象，研究了自治分布式坐标系。我研究了一种小型轻便的火星车，它可以在崎岖的地形上移动，比如陨石坑内的陡坡。已经研制出六条腿的机器人样机。我已经研究了系统的概念，体系结构和配置的开发步行火星车的行星探测。我可以获得每条腿的功能信息。提出了一种新的基于基本规则的步行算法。该算法可以应用于步行机器人与任何架构。计算机仿真结果表明了该算法的有效性。还可以获得步行性能的参数。这些参数对于设计和开发步行算法是非常重要的。然后，提出了一种在粗糙地形上进行静态步行的步行方案。步行机器人的身体可以根据地形信息进行控制。通过使用所提出的方法，步行机器人可以在崎岖的地形。通过图形仿真验证了所提出控制方案的有效性。对于能够在环形山和悬崖等崎岖地形中行走的轻型机器人，我还提出了一种新的重量分配设计概念。进行了静态和动态运动的设计分析。从步行机器人的速度和能量消耗的角度详细研究了有效性。以一个六足小型机器人为例，研究了该设计方案的性能。计算机仿真和实验结果验证了所提方法的正确性和有效性。

Autonomous distributed coordinate system has been studied focusing on multi-legged robot with adaptation in unknown environment. I have studied a small and lightweight rover, which can move across a rough terrain such as a steep slope inside craters. A prototype of the robot with six legs has been developed. I have studied the system concept, architecture, and configuration of the developed walking rover for planetary exploration. I could obtain the information on functions of each legs. I proposed a new walking algorithm based on some basic rules. The proposed algorithm can be applied to walking robots with any architecture. The validity of the proposed algorithm is shown by some computer simulations. I also could obtain the parameters on the walking performance. These parameters are very important to design and develop the walking algorithms.Then I proposed a walking scheme for static walking on a rough terrain. The body of walking robot could be controlled based on terrain information. By using the proposed method, walking robots can travel on rough terrain. The effectiveness of the proposed control scheme is shown by graphical simulations.I also proposed a new design concept on weight arrangement for light-weight robots which can travel in such rough terrain as craters and cliffs. The design analysis on static and dynamic motion was performed. The effectiveness was studied in detail from the viewpoint of the speed and energy consumption of walking robots. A small robot with six legs was developed to investigate the performance of the proposed design scheme. The validity and effectiveness of the proposed methods were confirmed and verified by computer simulations and experimental results.