1A1-E17 2自由度2足スケーティングロボットの揺動を利用した片足滑走動作の研究(脚移動ロボット)

抄録

We study on biped skating robot. The robot has two-degree-of-freedom and each foot has passive wheels. The robot oscillate by hip movement and stand alternately on each foot. Using oscillation, the robot skate efficiently. In the past, several study of biped skating robot has reported but there is no dissection of skating motion. We research on characteristics of skating motion and formulate foundational theory of skating motion of biped skating robot.