2010 Fiscal Year Final Research Report
Practical development of higher speed locomotion of a biped robot with passive wheels
| Project/Area Number |
20760172
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tohoku Gakuin University |
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Principal Investigator |
KUMAGAI Masaaki Tohoku Gakuin University, 工学部, 准教授 (70323045)
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| Project Period (FY) |
2008 – 2010
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| Keywords | 2脚歩行ロボット / 受動車輪移動 / ローラーウォーク / ローラースケート |
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| Research Abstract |
This work confirmed a method called "Roller walk" for biped robot. The robot only requires passive wheels on its each foot with a special axel mechanism, and a periodic motion of both legs generates propulsive force on the wheel. Hence, no additional motor and controller is required for wheeled mobility enabling higher-speed locomotion. For this work a new biped robot with human-size leg was developed.
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