[Updated on Apr. 18] Integration of CiNii Articles into CiNii Research

Improvement of kicking motion of the small biped skating robot

Bibliographic Information

Other Title
  • スケート運動によって移動する小型二足ロボットの蹴り動作の改善

Abstract

<p>In this study, we devised a new kicking motion to make the robot's skating movement more stable. In the conventional method, we used ramp trajectory as pitch joint reference. This trajectory brought instability and sometimes caused a failure of skating. In order to improve this problem, we developed “equi-energy trajectory”. By using this trajectory, the total mechanical energy of the robot during skating was constant. The effectiveness of this trajectory was shown in the experiment.</p>

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