502 人間生活環境において移動可能な2脚車輪ロボットの開発(OS5-(6)オーガナイズドセッション《ライフサポートにおける工学技術》)

概要

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In recent years, the researchers and the developments of biped robots are conducted actively. The biped robots are suitable for the human environment, because it has the same leg joint mechanism as the human. However, the energy consumption of the leg joint mechanism is higher than that of the wheel mechanism in the movement in the level ground. And, in recent years, the Biped Leg-wheeled Robots that have the leg and the wheel are researched and developed to solve this problem. These robots run with the wheel when they are on the level ground. And, these robots move by the leg when they are on the steps and the stairs. However, the existing Biped Leg-wheel robots are not assuming operation in irregular terrain. Therefore, the achievement of a steady movement in the human environment is insufficient. Then, we develop the Biped Leg-wheeled Robot that can run over irregular terrain.
2011-08-26