揺動質量を有するリムレスホイールに基づいた移動ロボットの開発

抄録

This paper presents a design of a novel mobile robot based on a rimless wheel with a wobbling mass. We have shown that our rimless wheel can walk on level ground by effects of an up-and-down wobbling mass through numerical simulations. However, we do not experiment with the robot since we do not build the prototype. We have developed a mobile robot based on a rimless wheel with a wobbling mass. The robot consists of a rimless wheel and a torso with wobbling mass. We first show a design of our robot using 3D-CAD model, and confirm that our robot can walk on level ground through numerical simulations.