1A1-G03 小型二足歩行ロボットによるスケート運動の実現 : 片足滑走技術の向上

概要

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We would like to increase the number of variations of robotic motion. Many researchers made many studies of skating motion of biped robot. Almost all robots of them were quite complicated multi-body systems. In this paper, we try to realize skating motion by using a small biped robot as simply as possible. We find out that an essence of a kind of skating motion is just a rolling motion of rigid body and develop a 4 D.O.F. robot that has 2 joints for each leg. One joint of each leg is used for lift action to maintain rolling and the other is used for escape from the dead lock at the moment of supporting leg exchange. It is shown by the experimental results that our robot can skate successfully but hectically. We propose a ballistic trajectory of lift action for smooth and efficient skating. The result of dynamic simulation shows the effectiveness of this trajectory.