小型二足ロボットのスケート運動

―パラメータ最適化による減速，停止の実現―

抄録

In recent years, researches on humanoid robots are actively conducted, and they are expected to play an active part in various fields. However, bipedal walking, which is the main means of moving for humanoid robots, has some problems. Firstly, the movement speed is slow. Secondly, the energy efficiency is low. As a means for solving, we proposed the skating method by a biped robot which uses swaying motion. By skating, biped robots can move faster than them by walking, and can decrease the number of actuators. However, the skating robot we have developed has some problems. One of them is that the skating robot cannot decelerate and stop on its own. In order to solve this problem, I devised a stopping method for skate robots and allowed the robot to stop in the simulation. This method is based on the theory of skating movement and the stopping method used in actual skating.