1A1-D31 アーティスティックロボット"J^2"の動作シミュレーションと実機検証

抄録

This paper describes acrobatic behavior simulation and actual experiment of J^2 the artistic robot. J^2 has 4 kinds of actuators for acrobatic motions that are Inertia Actuator, Cam Charger, Hip Joint and Knee Joint. A main objective is to realize somersault motion. The motion is simulated and a result is shown possibility. It is reflected experiment for actual robot. We obtain a possibility of somersault motion and properness of simulation model by comparing simulation and actual experiment.