小型二足ロボットによるスケート運動の実現

―スケート運動時の機体の安定性向上―

抄録

This paper describes a simple method for skating by small biped robot. Humanoid (biped) robots are generally slower speed and more energy than other robots during locomotion. Skating is one of the way solves their problems. We proposed a skating method by a biped robot which uses swaying motion. A biped Robot given angular velocity about roll axis gets propulsive force of skating when impulsive force arise between its support leg and the ground. We developed a small skating robot with 2DOF ankle joint a leg. With the robot, we achieved straight skating and turning skating. However, the robot has many problems. Therefore we developed a new robot that is equipped with 9-axis sensor, and analyzed skating movement for obviating fall down during skating. In using 9-axis sensor and FSR sensor, two indications of fall down are detected. We expect to recover the stability during skating movement by using these indications.