等方脚配置型ロボットの回転歩行制御に関する一考察

肥田 知仁; 久保田 孝

doi:10.11511/jacc.53.0.266.0

THE 53RD JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 546

DOI https://doi.org/10.11511/jacc.53.0.266.0

Conference information

Host: The Japan Society of Mechanical Engineers, The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 50 Societies and Institutes

Space Robotics

Study on Rotational Walking Control for Spherically Symmetric Limb-Arranged Robot

*TOMOHITO HIDA, TAKASHI KUBOTA

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Keywords: Spherically Symmetric Limb Arrangement, Multi Limb Robot, Walking Control

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

One of the biggest problem of walking robot is the danger of turning over. To cope with the risk of it, Spherically Symmetric Limb Arrangement was proposed. There is two types of the gait for Spherically Symmetric Limb Arranged Robot. One is the Translation Gait which is popular for multi limed robots, and another is Rolling Gait. Rolling Gait is the unique gait for Spherically Symmetric Limb Arranged Robot. In the presentation, study about the Rolling Gait walking control for Spherically Symmetric Limb Arranged Robot is shown.

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