2P1-B18 脚車輪ハイブリッド移動体の研究 : 移動形態を考慮した駆動系の提案

概要

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There are a lot of academic studies on the leg-wheel hybrid mobile robot with the high mobility by combining both functions of legs and wheels. In case each of locomotion has its own actuators, actuators for one locomotion become load for another. In case the wheel-drive mode uses passive wheels to limit the number of actuators, the performance of high efficiency in the wheel-drive mode does not work very well because of the cyclic motion of legs for its propulsion. In this paper, a novel design of drive system is proposed to limit the number of actuators to the minimum required for the leg function, and to require no cyclic motion in the wheel-drive mode. The mechanism and performance of limb modules with the proposal drive system are described.
2009-05-25