グライド推進時の車輪に加わる力に着目したグライド角の決定方法の検討

抄録

A glide angle is an important factor to obtain arbitrary driving force for gliding locomotion. Therefore, the optimum glide angle should be determined from the speed of robot and the force applied to the wheel. A method that can output arbitrary propulsive force will be described. In this paper, as analyzing the behavior of wheels during glide locomotion, we have measured the force worked to a wheel and the paths of the wheel. By deciding the optimal glide angle based on these information, we will determine appropriate glide angle that can generate an arbitrary driving force.