転がり運動の動力学解析のための２自由度質量駆動ユニットの開発

抄録

On the field of the study of mass-manipulated rolling locomotion, dynamics of the rolling rigid body is noteworthy. There were some previous researches of rolling locomotion, which examined motions of mass-manipulated rolling robots. Those robots demand eccentricity of its mass to its geometrical center. This research propose a new 2-d.o.f. driving unit for those robot, noticing the position of actuators to achieve the eccentricity.