小型二足ロボットのスケート運動

―加速動作の実現―

抄録

n recent years, various researches on humanoid robots have been conducted, and their practicality has been increasing. However, bipedal walking, which is the main means of locomotion for humanoid robots, has several problems. The first is the slow movement speed. The second is that it is not energy efficient. In order to solve these problems, we devised a skating method for robots. However, at present, the speed is slow and constant. By increasing the opening angle of the legs, we can change the propulsive force. By using this method, we aim to increase the speed of the robot and change it arbitrarily.