半球足を持つ脚車輪型移動ロボットの車輪移動を伴う歩容生成

抄録

In order to realize effective mobility for robots that are expected to work around human’s living space, we have developed a bipedal robot that has hemispheric feet as one of the wheeled-leg robots. We have already proposed the gait generation method on the sagittal plane, however, a wheel movement control method, and a combination control of both wheel and bipedal movements have not yet been proposed so far. In this paper, the wheel movement control method and the combination control method of both wheel and bipedal movements for the wheeled-leg mobile robot with hemispherical feet have proposed, and their effectiveness is demonstrated through numerical simulation using a 7-link dynamic model on the sagittal plane.