省自由度2足歩行ロボットにおける姿勢制御に関する研究

抄録

In this report, the simulation model of the bipedal robot with reduced degrees of freedom is explained. The model is designed on the bipedal robot named “YANBO-II”, which has reduced degrees of freedom. A walking robot is a promising to use in various environment due to the ability to put its foot at discrete standing point. A multi-legged walking robot has usually many degrees of freedom and also many control parameters. This research aims at developing the legged robot has less degrees of freedom to achieve the mission in the real world to make its control easier. The simulated model is used to evaluate the ability of the bipedal robot with reduced degrees of freedom for the leg-wheel hybrid locomotion on flat terrain and walking motion on the rough terrain.