脚車輪ハイブリッド移動に関する研究

―脚車輪遷移を考慮した歩容の実装―

抄録

This paper explains gait implementation and leg-wheel transition of leg wheel hybrid locomotion to the four legged robot named “Road Strider”. Road Strider is equipped with a passive wheel to each foot. It moves on a flat plane by wheels and on the rough terrain with legs. The Road Strider has unique joint mechanism which uses singular point to reduce the energy consumption when the robot stands. High energy-effectiveness is suitable for the various application, especially the robots acts in the extreme situation like a rescue mission. The implementation of the various gaits such as crawl, trot and roller-skating to Road Strider are explained and a new gait to transit between roller-skating and walking is proposed.