2P1-D13 ローラーウォーカーに関する研究 : 第10報:能動足首ヨー自由度制御による全方向移動

抄録

Roller-Walker is a leg-wheel hybrid mobile robot using a passive wheel equipped on the tips of each leg. The passive wheel can be transformed into sole mode by rotating ankle roll joint when Roller-Walker walks on a rough terrain. This paper describes omni-directional skating motion with ankle yaw rotation mechanism which permits the robot to independently determine the tangential direction of the passive wheel regardless of the position of the leg. We propose a new algorithm which achieves desired velocity in arbitrary direction and the method was evaluated by both numerical simulation and hardware experiments.