月面基地内用利用2足ロボットのダイナミクス評価

抄録

Humanoid robots are expected to play an important role in the Moon’s exploration. Especially, in the case of robots used inside a room during base operations, the mission of this type of robot is to work with people as well as communicate with them to improve their mood. When developing the control method of this robot moving in a low gravity environment, the dynamics of the robot are necessary. In this paper, evaluation of dynamics derived for this robot was done, comparing with data obtained from the hardware simulator of the robot. First of all, calculation data in the case of walking on earth were compared with that of hardware simulator, and it was confirmed that slip motion didn’t occur. Next, using the same control method, calculation data in the case of the Moon’s environment was compared with data of hardware simulator. At this time, slip motion which was characteristic motion in a low gravity environment was realized in both calculation data and the motion of hardware simulator. From these results, the efficiency of the derived dynamics was shown.