〒 560-85311-3, Machikaneyama-cho,Toyonaka, Osaka, Japan
We set a goal for this research to improve the vertical mobility of our limb mechanism robot "ASTERISK" by proposing the "grid wall walking gait" which is a movement on a grid structure. With our method, static evaluation determines the stable grid wall walking. At the same time, feedback control discards the position errors and distributes loads on legs while walking.As an experimental result, "ASTERISK" could walk on a vertical and a +/-30-degree inclined walls. At present, we are searching for an optimal grid wall walking gait on each inclination of wall with our optimization method, which is a genetic algorithm (GA) based on the static evaluation.We aim to apply this method to off-line generator of grid wall walking when there is a change of environment such as grid stroke or hardware of "ASTERISK".