1P2-O03 カプセル型移動ロボットの運動制御 : 摩擦と衝突を考慮した動作生成アルゴリズムとその解析(特殊移動ロボット(2))

抄録

This paper describes a motion control method for a capsule-type robot which consists of an outside capsule and a movable inner mass. To realize efficient motions, we propose a motion algorithm utilizing friction characteristics and collision phenomena. Proposed methods are investigated by theoretical analysis and numerical simulations.