SEAを活用したロッカーボギー機構における動的動作の提案

抄録

In this paper, a rocker-bogie mechanism equipped with SEA (series elastic actuator) is used to step oversteps by performing the dynamic motion. High kinetic performance can be expected by storing the kinetic energy of the motor as elastic energy of the spring and releasing it at the appropriate timing. a rocker-bogie mechanism equipped with SEA was fabricated, and stepping over steps utilizing elasticity experimented.