二脚搬送ロボットにおける積載物転がり・滑り条件とLIPMでの回避方法の検討

抄録

In this paper, we considered the case of a bipedal robot carrying objects and people, and formulated the range of robot body acceleration at which the load does not roll and slip. In the robot that carries objects, it is essential to carry the load without falling it. To achieve this, it is important to control the rolling and slipping of the load. Based on a linear inverted pendulum mode (LIPM), we formulated a step length and center of gravity (CoG) height to prevent the load from rolling and slipping. In simulation, We confirmed that the load could be prevented from rolling and the slippage of the load can be reduced within the range of step length and CoG height we formulated.