Study of locomotion on irregular terrain about trackchangeable walking machine

本研究针对一种可变轨步行机在不规则地形上的行走进行改良。进行了基本的理论研究和几个实验。在理论方面，利用动力学仿真器研究了移动的切换运动和履带与腿的混合运动。从所需时间、静态稳定性和能量消耗的角度对其进行评估。在实验研究方面，利用改进后的样机实现了开关运动和混合运动。样机成功地完成了混合运动，并爬上了一个仅依靠履带机构无法实现的大台阶。

This study has conducted to improve a locomotion on irregular terrain of track-changeable walking machine. Fundamental theoretical considerations and several experiments have conducted. As for the theoretical considerations, (1) switch motion of mobile mode, (2) hybrid motion by the combination of track and leg, are examined using dynamics simulator. They are evaluated from viewpoints of required time, static stability, and energy consumption. As for the experimental discussion, the switch motion and the hybrid motion are realized using improved prototype machine. The prototype succeeded in performing the hybrid motion and climbing up a large step that it could not by only track mechanism.