二球連結型準受動揺動歩行ロボットの解析と検証実験

抄録

In this paper, we propose a rocking-rolling mobile robot with coupled hemispherical feet, whose locomotion is generated by oscillation of pendulums attached to each hemisphere. To analyze this robot we built a model composed of two hemispheres connected with twistable pole and we confirm it is possible to control the moving direction of it by periodic oscillation. Then we examine its effectiveness by control experiments.