転がり接触を考慮したヘビ型ロボットのオドメトリ

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  • Odometry of snake-like robot considering rolling contacts

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<p>Most of the studies of snake-like robots have been focused on reproduction of mobility of living snakes. If we consider to remotely operate the snake-like robot in disastrous situations, localization is important. In this paper, we propose odometry using information of the contact points and the shape of the robot. Considering rolling contact of robot surface turns out to be important when the robot take lateral rolling motion. We evaluated our method on the simulator with crawler gait and helical rolling gaits.</p>

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