可変構造型移動ロボットの制御に関する研究 : 第4報, 制御アーム-脚型モデルの姿勢変化と跳躍移動

概要

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The variable-structure-type locomotive robot developed in this study can constitute three main variations (models) by selecting controlling arms, wheels and legs in addition to a body. This paper reports the postural change and jumping motion of the third model of the robot which is composed of controlling arms and a leg mounted on both ends of the body. Since the constitution of the model was so constructed in order to simulate the human body, its motions bear quite a resemblance to those of a human being. The main results obtained by this study are as follows : (1) Sitting-down and standing-up motions were achieved by using control methods proposed in this study. (2) Locomotion by jumping at the standing posture of the robot was attained. (3) It is confirmed experimentally that the compound gravity center feedback controls such unstable posture of the robot as jumping and standing on the tip of the leg.
1992-01-25