4自由度の脚を活かした車輪走行が可能な2脚車輪ロボットの設計・製作

抄録

Leg-wheeled robots, which combine the features of both wheeled and legged robots, have been proposed as highly mobile robots. We have developed a two-legged wheeled robot, MELEW-2 (MEiji LEg-Wheeled Robot-No.2), which consists of 4-DoF legs (x,y,z,Yaw) and active wheels. The motion experiments show that the robot can run on wheels at a speed of about 1.7 m/s, and that it can perform a combination leg and wheel movements, such as running on wheels while adjusting the height and the leg width of the robot body and slalom running. In this paper, we describe the hardware, control, and operation experiments.