直列弾性膝を持つ脚車輪ロボットの跳躍を目的とした屈伸時の姿勢制御

抄録

In this paper, we investigated a control method for maintaining the posture of a leg-wheeled robot with series elastic knees during forced vibration for jumping. The leg-wheeled robot with a series elastic actuator is expected to achieve high jumping performance due to the energy increase (resonance) of the entire system caused by the forced vibration. In addition, it is imperative to maintain the posture so the robot does not fall over during the forced vibration. We developed a leg-wheeled robot with a series elastic actuator at the knee. We verified whether the robot could maintain its posture and reach a jump in the simulation and actual robot. The robot successfully jumped onto a 3 cm step in the simulation and maintained its posture on flat ground in the actual robot, demonstrating the feasibility of the jump.