ロッカーボギー機構における物理弾性を活用した動的動作の提案

抄録

We propose a dynamic motion using a rocker-bogie mechanism that utilizes the physical elasticity. By storing the kinetic energy of the robot as elastic energy in the physical elasticity and releasing it appropriately, more kinetic energy can be expected. In addition, dynamic motions such as excitation of the bogie link can accumulate even more elastic energy. In this paper, we designed and fabricated a prototype of the rocker-bogie mechanism with physical elasticity, and conducted experiments to climb over a step. As a result, the ability to climb over steps was improved by utilizing the physical elasticity.