凹凸乗越えと跳躍を両立する倒立２輪跳躍移動ロボットの開発

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タイトル別名
  • Inverted two-wheel jumping mobile robot with active suspension and jumping movement function
  • -1<sup>st</sup> report: Study of active suspension mechanism using Chebyshev link mechanism-
  • 第１報：チェビシェフリンクを活用したアクティブサスペンション機構の検討

抄録

<p>In recent years, demand for mobile robots that can move in people coexistence environment is increasing. Many of these are wheels moving type. The footprint of wheels moving type tends to be large in order to adapt to uneven road surface. In a human coexisting environment, compact structure is required. Therefore, in this development, utilizing the compactness of the inverted pendulum wheel robot, we study a robot that can overcome a large step like a staircase by jumping. As a first report, we propose an active suspension mechanism using Chebyshev link and conducted experiments using a prototype robot. Experiments confirmed that the prototype robot can jump to 1.3 times the link stroke. It also confirmed that it has realized the posture stabilizing during jumping and impact absorption at landing time. Therefore, the link mechanism has a function as an active suspension.</p>

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