The mechanical analysis of a legged field robot for the reduction of longitudinal mass-drift amounts

Abstract

In this paper, we present a legged field robot with a biologically inspired concept like the leg structure. The robot has a feature of only hip-joint actuators for the simplicity of mechanism and control. One of the robot's objectives is to achieve the ability to travel quickly for the reconnaissance of a broad area. Currently, the solar panel is used for better endurance time of mobile field robots. This platform can get some additional features. Firstly, if the platform stops in the field, the solar panel rotates for generating better power with perpendicular to the sun. Secondly, if the platform moves in the field, the solar panel rotates for balancing and the compensation of mass-drift amounts. In particular, in this study we discuss the mobile platform with upper panel such as solar panel and pitch joint between main body and solar panel.