小型スケーティングロボットにおける迫力のある滑走動作生成手法の検討

抄録

Entertainment is one of the successful fields in robot industry, and especially, the typical entertainment robot is the small humanoid robot. To offer the people new elements of entertainment, we focused on skating robot. In the previous research, we realized a straight sliding motion for small skating robot. However, the motion is small and less powerful. This paper discuss how to generate more dynamic skating motion by extending single supporting period. In order to extend the period, I proposed new motion that extend a support leg during the period. In addition, I make new motion that shrink idling leg when the leg landed.