スケート運動で移動する小型二足ロボットの蹴り動作改良

―RealSenseを用いた機体ロール角の取得―

抄録

In recent years, various studies on humanoid robots have been conducted, and their practicality has been increasing. However, bipedal walking, which is the main means of moving for humanoid robots, has some problems. Firstly, the movement speed is slow and secondly, the energy efficiency is low. As a means for solving these problems, we devised the skating method which used the swaying motion of the robot body. By skating, biped robots can move faster than by walking and save energy because of being able to move just by kicking the ground. In order to improve the stability of skating motion, we devised a new kicking motion that generates a motor command value using swinging angle data which is acquired by using RealSense, a kind of RGB-D camera.