小型多種ロボット構成キットによる４輪走行トランスフォームヒューマノイドの設計と行動実現

抄録

When the environment or the work changes while the robot substitute humans’ works, the robot can be adapted to various situations by changing to a form suitable for such as a mobile-base or humanoid depending on the situation. Therefore, in this research, by constructing a four-wheeled humanoid that has driving wheels, trailing wheels, and multiple sensors, capable of transitioning between multiple forms and returning from falling to continue operation, we examine the construction method of the robots that have continuity of movement and can take various forms and the form transition method. Experimental results show that, it is effective (i) changing the support area with driving wheels and trailing wheels actively, (ii) light and flexible impact resistance of the body, and (iii) detecting the state of the actual robot using multiple sensors equipped on the whole body.