表題番号：2022C-641
日付：2023/04/04
研究課題脚車輪ロボットの脚機構に関する研究
| 研究者所属（当時） | 資格 | 氏名 | |
|---|---|---|---|
| （代表者） | 理工学術院 大学院情報生産システム研究科 | 教授 | 橋本 健二 |
- 研究成果概要
- Our long-term goal is to develop a leg-wheeled robot that has the advantages of both a legged robot and a wheeled robot. The leg mechanism is designed to have four degrees of freedom (DoFs), which include translational movements of the leg tip in three directions (back and forth, left and right, and up and down) and rotation of the leg around the Yaw axis to control the steering angle of the wheel when turning, as well as active wheels. In this study, we designed and developed a 4-DoF leg excluding the active wheels. The leg mechanism is required to have high output efficiency to enable high-speed leg swinging motion and support of a payload equivalent to the mass of the legs. In addition, the torque of the motor at the hip joint required to move the leg tips increases as leg inertia increases, so a mechanism that is less affected by leg inertia is required. Therefore, a 4-DoF spherical parallel link was adopted in this study.