リアクションホイールをもつX字型2脚ロボットの車輪型歩容の性能解析

抄録

The authors have investigated methods for generating a stable wheel gait of a planar X-shaped walker by rotating two leg frames in the same direction. In a previous work, we achieved generation of a steady wheel gait for a 3-DOF X-shaped walker with two control inputs, in which a reaction wheel is sandwiched between two leg frames. Regardless of the linearization of the model, the rotational motion of the legs could be easily generated using continuous-time output deadbeat control, but it was difficult to determine the initial angular velocity of the reaction wheel that behaves as zero dynamics in the nonlinear model. It was also found that two different steady wheel gaits with short and long periods appear. This paper further analyzes the gait efficiency in more detail using evaluation indices such as step period and specific resistance.