脚車輪ハイブリッド移動ロボットに関する研究

―受動車輪を用いた等速運動の検討―

抄録

This report explains a constant speed movement by the passive wheel of the tip of each leg of the four-legged robot named "Road Strider”, which can perform the leg-wheel hybrid locomotion. It moves on a flat plane by wheels and on the rough terrain with legs. “Road Strider” has unique joint mechanism which uses singular point to reduce the energy consumption when the robot stands. High energy-effectiveness is suitable for the various application, especially the robots acts in the extreme situation like a rescue mission. To measure precisely the surrounding environment, it is important to move the robot at constant speed. To make the constant speed movement, constant velocity motion in wheel motion is considered and implemented to the robot.