劣駆動リムレスホイールの陥穽踏破能力の解析を目的としたモデリングと歩行制御

抄録

This paper investigates modeling and control of an underactuated limit-cycle walker for escaping from the quagmire. First, we introduce the model of a eight-legged underactuated rimless wheel with a torso as a reaction wheel and develop the equations of motion and collision according to the phase sequence. Second, we design a method for generating a few steps walking motion based on collisionless limit cycle walking. The robot is then controlled from the initial static state to the terminal one including the impulsive effects and the influence of the reaction force from the quagmire. The fundamental properties of the generated motion are discussed through numerical simulations.