2A1-J02 旋回曲率を操作可能な台車による2脚ロボットのローラーウォーク(特殊移動ロボット・メカトロニクス)

抄録

The Roller-Walk is one of methods for locomotion of walking robots. It requires only passive wheel(s) on each of legs, and periodic motions of legs generates driving force. Successful results were shown in quadruped robot, and some trials had also been carried out on biped robot. The biped roller-walk had a problem in following trajectories because its 'skate' tends to go straight while trajectory curves. This paper proposed one of successful method for biped roller-walk. The robot use a special type of trucks whose curvature can be changed only by inclining the body of the truck. The experiments showed effectiveness of our mechanism in roller-walk on straight, right turn, and left turn trajectories.