劣駆動移動ロボットの運動生成における回転運動の効果

抄録

The authors proposed an underactuated locomotion robot utilizing effect of wobbling and sliding, and showed that stable and smooth sliding locomotion gaits on a slippery downhill can be generated through numerical and experimental investigations. They also proposed an underactuated locomotion robot with a quick return linkage aiming at generation of a forward motion on a slippery level surface. In this paper, for understanding the mechanisms of rotation on forward sliding, we introduce an underactuated locomotion robot with an actively-controlled inner reaction wheel. First, we introduce the mathematical model of the robot and develop the control law. Second, we numerically investigate the effects of the rotary derive of the reaction wheel on forward motion generation.