1A2-C10 段違い平行棒運動ロボットの研究 : 宙返りを含む移動技の実現(アミューズメント・エンタテイナーロボット)

概要

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The goal of this research is to develop a gymnast robot that can perform uneven bars gymnastics. The uneven bars gymnastics is considered to be the expansion of horizontal bar gymnastics in the sense of kinematics. But it has many unique problems in the sense of dynamics. In this paper, the gymnast robot model is modeled in a two dimensional plane as a linked system of three rigid links. The most important maneuver in the gymnastics is to move from one bar to the other bar during the performance. The main target of this paper is to derive the conditions so that the gymnast can reach and grab the other bar after aerial somersault. In the conditions, we use the method to contol the angular velocity of the whole body and to get the proper rotational angel by manipulating the moment of inertia of the whole robot body.
2007-05-11