早戻りリンク機構を利用した劣駆動移動ロボットの開発と基礎実験

抄録

The authors have been analyzing a motion generation of an underactuated locomotion robot with a quick return (QR) linkage through numerical simulation, and numerically showed that the robot is able to generate a forward motion by setting suitable parameters. In this paper, we outline the details of the developed experimental machine and environments, and report the basic experimental results. First, we describe the modeling and control law of the robot, and outline the experimental machine and environments. Then, we verify the validity of the numerical analysis results through experimental verification.