2自由度振動系を利用した低衝撃高速階段昇降に関する研究

―運動方程式を利用したソフトランディングのためにパラメータの解析―

抄録

We have proposed a fast stair-climbing wheeled robot with a simple hopping mechanism that uses vibration of the two-degrees-of-freedom (2-DOF) system. The robot consists of two bodies connected by springs and a wire, hops by releasing energy stored in the springs, and quickly travels using wheels mounted on its lower body. The trajectories of the bodies during hopping depend on parameters such as the reduced mass of the two bodies, the mass ratio, the spring constant, the initial contraction of the spring and the horizontal velocity. This mechanism allows the robot to climb stairs quickly and economically and to land softly without the complex control. In this paper, we found a design solution creating two soft-landing points. As a result, the impact acceleration at landing was reduced by 57% for the riser of 0.03m and by 45% for the riser of 0.12m compared to that of free fall.