小型二足ロボットによるスケート運動

―実機体の停止動作の改善に向けた動作シミュレーション―

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, our research is aimed at enabling robots to stop faster and more consistently. However, the problem with current robots is that they frequently tip over when performing stopping movements, and there is a limit to the speed at which they can stop. In this study, I analyzed the stop motion of the robot using physics simulations and looked for ways to allow skating robots to stop more quickly and stably, even at higher speeds.