2A1-A03 車輪付きヘビ型ロボットによるcylinder climbingの実現(冗長自由度ロボット・メカニズム)

• 原田 高彰

  岡山大

• 亀川 哲志

  岡山大

• 五福 明夫

  岡山大

書誌事項

タイトル別名

• 2A1-A03 Realization of cylinder climbing locomotion by a wheeled snake-like robot

抄録

Recently, multiple locomotion gaits of snake has been realized by snake-like robots. For example, undulation propulsion, side winding propulsion and measuring worm propulsion are realized. In addition, a locomtion gait called "lateral rolling" that real snake does not achieve is realized. However, those previous locomotion gaits are limited on two-dimensional plane. In this study, we develop a snake-like robot that is constructed by assembling five units. One unit is composed by one pitch axis and one yaw axis, and can have two passive wheels. We realize previously presented locomotion gaits of snake with this robot. In addition, we realize cylinder climbing locomotion in three-dimensional plane that this robot coils itself to a cylinder and climbs it by lateral rolling.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2007 (0), _2A1-A03_1-_2A1-A03_4, 2007

  一般社団法人 日本機械学会

キーワード

• Snake-like Robot
• Lateral Rolling
• Cylinder Climbing

詳細情報

• CRID: 1390282680912539136
• NII論文ID: 110008695335
• DOI: 10.1299/jsmermd.2007._2a1-a03_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2007/0/2007__2A1-A03_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可