摺動と揺動を利用した移動ロボットの運動解析と実機開発

抄録

One of the authors started an investigation of an underactuated locomotion robot that moves on a gentle slope utilizing the effects of sliding and wobbling. The robot consists of a semicircular body frame and inside wobbling mass actively controlled. It was numerically clarified that the robot can move along the slope depending on the wobbling motion. This paper then analyzes the fundamental properties of the generated motion by changing the parameter of the desired-time trajectory for wobbling motion. Through numerical investigations, we show that the moving speed can be maximized by adjusting the parameter. Furthermore, we outline our prototype experimental machine.