2 自由度の揺動効果を利用した劣駆動移動ロボットの水平面上の前進運動生成

抄録

The authors have studied a motion generation by a wobbling mass attached inside a semicircularshaped body, and showed that generation of a downward motion on a downhill is possible through 4-DOF 1 input underactuated-system with 1-DOF linkage inside the semicircular body. The system is, however, difficult to generate a forward motion on level surface. In this paper, the authors set the trajectory of the wobbling mass attached to the tip of the link to track the target trajectory, and the target trajectory is set to elliptical curve. The trajectory generate asymmetric wobbling effects for the body of the robot. It affects generation of the forward motion, the effect is analyzed by numerical simulation. In addition, effects of the shape of the elliptical curve and the route of it for generating a forward motion are analyzed.