滑り摩擦非対称性を利用した動的2脚移動

DOI Web Site 参考文献20件
  • 妹尾 拓
    Graduate School of Information Science and Technology, The University of Tokyo
  • 高野 光浩
    Graduate School of Information Science and Technology, The University of Tokyo
  • 石川 正俊
    Graduate School of Information Science and Technology, The University of Tokyo

書誌事項

タイトル別名
  • Dynamic Biped Locomotion Using Asymmetry of Sliding Friction
  • スベリ マサツ ヒタイショウセイ オ リヨウ シタ ドウテキ 2キャク イドウ

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抄録

In this paper, dynamic biped locomotion is considered with the goal of achieving fast and dexterous leg motion. We propose a new movement principle for legged robots, which produces propulsive force using frictional asymmetry. The dynamic locomotion consists of sliding motion based on the kinematic constraint and jumping motion which enables to keep the maximum horizontal velocity. The dynamics of the 2-DOF biped robot is analyzed to obtain motion characteristics for developing a motion strategy. Experimental results are also shown in which a 2-DOF biped robot takes fast short steps repetitively with compensation of the landing time by high-speed vision.

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