摺動と揺動を利用した劣駆動移動ロボットの実験的検証

抄録

The authors proposed an underactuated locomotion robot utilizing the effects of sliding and wobbling. We numerically clarified that the central angle of the sinusoidal vibration of the wobbling mass is the most important parameter for control of the moving speed. To experimentally evaluate the validity of the simulation results, we have developed an experimental machine. In this paper, we report the basic experimental results of the robot locomotion on downhill. First, we outline our mathematical investigations and the experimental machine developed based on the simulation model. Second, we describe the experimental environment construction. Finally, we report the experimental results obtained and discuss the gaps between those and simulation results.