小型二足ロボットによるスケート運動の実現

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書誌事項

タイトル別名
  • Achievement of skating movement by a small biped robot
  • ―走行安定性の向上―
  • -Improvement of the skating stability-

抄録

<p>This paper describes a skating method by a small biped robot which uses swaying motion. Humanoid (biped) robots are generally slower and require more energy than other robots during locomotion. Skating is one of the way solves their problems. We proposed a skating method by a biped robot which uses swaying motion. A biped Robot given angular velocity about roll axis gets propulsive force of skating when impulsive force arise between its support leg and the ground. We developed a small skating robot with 2DOF ankle joint a leg. With the robot, we achieved skating. However, the robot has many problems. Therefore we aimed at improvement of the stability during skating.</p>

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