前後・左右対称な構造を有する3リンクロボットによる空中相を含むブラキエーション

抄録

A gibbon moves between branches by brachiation. This is a fast, dynamic movement that uses the torso as a pendulum and utilizes gravity. Among them, brachiation including aerial phases is faster than normal and can catch farther branches. Such brachiation is called ricochetal brachiation. In this paper, in order to realize brachiation including the aerial phase, we make a robot with symmetrical structure, and perform ricochetal brachiation experiments using the real robots. We used the torque time series we made to do normal brachiation. In addition, based on the torque time series, we realized ricochetal brachiation with a real machine.