Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
This paper presents a new type of leg-wheeled robot designed to reduce the degree of freedom (DOF). The main element of the design to reduce the DOF is to use a passive wheel and a 6-joints closing link mechanism. By using these elements, it is possible to construct a leg-wheeled robot with 11 DOF despite having 6 legs. In the previous studies, we verified the wheel movement. However, problems such as intense increase and decrease of movement speed occurred. Hence, we develop a prototype with only a wheel moving mechanism, devise an motion plan such as using a gliding locomotion, and consideration of the constant velocity movement.
