グライド推進時の車輪滑りを考慮した実軌道の推定法

抄録

A glide angle is an important factor to obtain arbitrary driving force for gliding locomotion. Therefore, the optimum glide angle should be determined from the speed of robot and the force applied to the wheel. In this paper,we propose a method for calculating glide locomotion path considering wheel slip using proposed index of friction force ratio. We show the results to estimate the wheel path from mesurements of the force and the rotation of the wheel.