省自由度2足歩行ロボットにおける姿勢制御に関する研究

第４報 車輪移動と歩行の遷移の検討

抄録

In this report, the simulation model of the bipedal robot with reduced degrees of freedom and considerations of the sensors mounted on the sole of the robot are explained. A multi-legged walking robot has usually many degrees of freedom and also many control parameters. This research aims at developing the legged robot has less degrees of freedom to achieve the mission in the real world to make its control easier. When the robot walks autonomously, it is quite important to recognize the condition of terrain and contacts with it. It uses sensor to control the attitude and joints of the robot in order to achieve the stable locomotion.