B115 三次元等方脚配置型ローバの動的な回転運動(OS13 月・惑星探査ロボットの運動と制御3)

抄録

This study deals with a multi-legged planetary rover with a spherically isotropic leg arrangement. This robot is a reliable system for the exploration on rough terrains, because the rover can continue walking even after overturning. Moreover, this rover can exhibit a rotational motion by utilizing its isotropic shape in addition to quadruped walking motion. This paper introduces dynamic rotational motion as a new locomotion of the rover. In order to operate this motion safely, reasonable attitudes are investigated and specified that can increase the tolerable force acting on the legs. Furthermore, the conditions for stable rotational motion are introduced from the view point of rotational speed and kick speed.