2P1-G14 腕脚統合型ロボットによる多角柱転がし動作の力学解析

概要

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A heavy object can be efficiently rotated by using the body weight and the internal force of the robot. The weight shift control is implemented considering the Imaginary Zero Moment Point (IZMP) of the object to control the balance. When the IZMP is beside the support polygon of the object, the object has rotational force. The rotational force is controlled by the force from the robot, and it can be manipulated more powerful by using the internal force. We analyze available internal force with friction by kinematical solution, and it is implemented to the small multi-legged robot by using torque control. The effectiveness is confirmed through experiments.
一般社団法人日本機械学会の論文
2009-05-25