小型二足ロボットによるスケート運動

-片足3自由度機体による減速・停止動作の実装-

抄録

Simple bipedal walking, which is a means of transportation for many humanoid robots, has problems such as poor energy efficiency and slow movement speed. As one of the methods to solve these problems, our laboratory is studying the skating motion of a biped robot. Currently, the skate robots in our laboratory cannot be stopped or braked. In a previous study, we successfully stopped at a Reverse V-shaped brake in simulation. The method is to rotate the legs of the skate robot around a vector connecting the toes and the orthogonal points of the three joint axes. This reduces the load applied to the heel. In this study, we developed a new robot with three degree of freedom per leg. The objective is to realize a stable stopping motion on the actual machine. As a result, we were able to obtain the parameters for stable stopping motion.