外骨格arXiv:2010.13393
駆動輪付き外骨格Exoway
Exoway: an exoskeleton on actuated wheels
低コストな駆動輪付き外骨格を提案し、アクティブ制御でバランスを保ちながら移動やスケート状の歩行を可能にした。
著者: D. Abruzzese, D. Carnevale, A. Monti, C. Possieri, S. Rossi, M. Sassano, P. P. Valentini
分類: cs.RO
原文アブストラクト
In this short work we present a low cost exoskeleton with actuated wheels that allows movements as well as skating-like steps. The simple structure and the actuated wheels allows to minimize the use of motors for locomotion. The structure is stabilized by an active control system that balances the structure and permit to be maneuvered by the driver whose commands are acquired by a dedicated hardware interface.