1P1-O11 旋回中心を考慮したヘビ型ロボットのサイドワインディング推進(バイオロボティクス)

• 漆原 秀行

  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

• 1P1-O11 Sidewinding locomotion of snake robot considering a center of turning point(Biorobotics)

抄録

This paper proposes a method of turning for sidewinding locomotion of snake robot. Sidewinding locomotion is employed by a snake in the desert. It was shown that this locomotion can be generated by a repetitive traveling wave. However, most study of this locomotion is realized only straight forward locomotion. Sidewinding locomotion is considered as a curve along an helix of cylinder. We propose method to turn a direction of snake robot by changing a form of a snake robot from helix of cylinder to helix of cone. In addition, we consider a center of turning point to make a snale robot turning around arbitrary radius. We applied this method to the snake robot. Experimental results of a turning radius and turning speed are shown.

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 2011 (0), _1P1-O11_1-_1P1-O11_4, 2011

  一般社団法人 日本機械学会

キーワード

• Biomechatronics
• Snake Robot
• Sidewinding Locomotion

詳細情報

• CRID: 1390001205938086272
• NII論文ID: 110009692011
• DOI: 10.1299/jsmermd.2011._1p1-o11_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2011/0/2011__1P1-O11_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