柔軟半球足を持つ二足歩行ロボットのバランス制御と歩容生成

丸林 央樹, 門崎 正滉, 田原 健二

研究成果: Contribution to journalArticle

抄録

<p>In this paper, a new type bipedal robot which has soft hemispheric feet is proposed. It is able to realize an efficient bipedal locomotion by utilizing a rolling motion of hemispheric feet effectively. Furthermore, each hemispheric foot has an active torsional joint. Thus it is able to move as a wheeled vehicle using an infinite rolling motion by the torsional joint. It, however, is difficult to keep its balance more proper than a humanoid robot having normal flat feet. Therefore, firstly a balance control and gait generation method which consider the rolling effect of feet are proposed. After that, several numerical simulations are conducted to demonstrate the effectiveness of the proposed balance control and gait generation method.</p>
寄稿の翻訳タイトルBalance Control and Gait Generation for a Bipedal Robot with Soft Hemispheric Feet
本文言語日本語
ページ(範囲)G1500404
ジャーナル年次大会
2016
0
DOI
出版ステータス出版済み - 2016

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