Development of Experimental Combined Rimless Wheel with Actively-controlled Wobbling Mass

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  • 能動的な揺動質量を搭載した連結型リムレスホイールの実機開発

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<p>With the purpose of controlling the gait frequency of the robot locomotion, a novel and indirect method has been recently introduced using an active wobbling mass attached to limit cycle walkers. One of the strongest advantages of the method is the easiness of its implementation, prompting its applicability to a wide variety of locomotion systems. In this paper, we design an experimental machine for further verification of the numerical results. First, we introduce the typical modeling and control of this robot, a combined rimless wheel with an active wobbling mass. Second, we show the typical gait of it. Finally, we design an experimental machine for it.</p>

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