2A2-E01 OpenHRP3を用いた1脚跳躍ロボットの安定性評価 : 2次元拘束状態における連続跳躍について(脚移動ロボット)

概要

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In this study, we restrict a one-legged hopping robot with 2-DOF in two-dimensional space, and aim to make that robot hop continually by the remote control. Therefore, we evaluated the overall stability of the robot's body during continual hopping through a simulation experiment with OpenHRP3, which has the latest dynamics-computation engine. As a result of the experiment, we found that the graph of the number of hops showed unimodal distribution when we changed the body length. Moreover, we found that the number of hops hardly changed when we changed the distance between the barycentric position and the joint axis under the constant body length, and proportionally changed when we changed the distance between the barycentric position and the joint axis under the constant barycentric height. Therefore, we concluded that the overall stability in continual hopping can be improved by changing the body length more than by changing the barycentric position.
一般社団法人日本機械学会の論文
2011-05-26