重力モーメント考慮の姿勢制御によるマルチロコモーションロボットを用いての垂直梯子登り運動

抄録

This paper introduces a vertical ladder climbing of humanoid robot only by a posture control without any external sensors. The humanoid robot does not have any special structure for fixing the body to the ladder. The robot maintains the body on the ladder by its grippers like human does. As a problem of this locomotion, a free gripper position of the climbing robot is not controllable because a yawing of the robot body around the axis connecting a supporting gripper and foot on the ladder is not fixed. To solve this problem, the momentum around the axis caused by the gravity is used to control the yaw motion of the body so that the various gait such as pace gait and trot gait could be realized in a ladder climbing maneuver. The algorithm of ladder climbing with recovery motion is experimentally verified by using "Multi-Locomotion Robot (MLR)" which is developed to achieve various types of locomotion such as biped, quadruped walking and brachiation.