2P1-C08 脚型車輪型兼用ロボットの上下動をなくす歩行制御(特殊移動ロボット)

概要

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This paper describes synchronized control of hip and knee joints of a wheeled leg robot to reduce vertical swing. Robot legs are jointed freely at the rim of a hip joint wheel and are able to rotate by torque transferred coaxially on hip joint axes. Therefore, the robot body swings vertically while it walks by the hip joint wheel rotation. To generate comfortableness of the walk by regulating the vertical swing, we propose two methods of synchronized control among joints in front and rear, and also in right and left. The first limits the rotation in a certain range, ie, swing motion, but the second allows continuous rotation of knee joints. But the hip joints swing in the two. The walking based on the two methods are simulated and compared for the betterment of the control.
一般社団法人日本機械学会の論文
2008-06-06