1A1-E11 2足歩行ロボットの受動車輪機構を用いた滑走移動 : 第1報:インラインスケートによるスウィズル動作の実現(脚式移動ロボット・メカトロニクス)

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  • 1A1-E11 Sliding Motion of Biped Walking Robots Mounted on Passive Wheels : 1st Report: Realization of Swizzle Motion by Inline Skates

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Biped walking is easily adaptable to rough terrain such as stairs and stony paths, but the walk speed and energy efficiency on the flat ground is not so effective compared with wheeled locomotion. So, we propose a new control method for a swizzle motion of biped walking robots mounted on inline skates. The swizzle motion uses the friction force generated by periodical movement of passive wheels. The proposed method is based on the reaction force which acts on the foot, and a new reference position is changed according to the reaction force not to be large internal force. Through hardware experiments, the effectiveness of the proposed method was confirmed.

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