リムレスホイール型ロボットにおけるインクラインモード歩行実験

抄録

This paper presents experiment results of rimless wheel robot in incline mode walking. We developed the Rimless Wheel Walker with Wobbling mass (RW-3). RW-3 achieved the incline mode walking and the wobbling mode walking in the numerical simulation. In incline mode walking, RW-3 walks on level ground using the propulsive effects due to inclining torso posture. In wobbling mode walking, RW-3 walks on level ground using the propulsive effects due to wobbling motion. We show the problems in the incline mode walking through walking experiments.