Control of a Snake-like Robot Using the Screw Drive Mechanism

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  • Satomura Shogo
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • Hara Masaya
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • Fukushima Hiroaki
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications
  • Kamegawa Tetsushi
    Graduate School of Natural Science and Technology, Okayama University
  • Igarashi Hiroki
    SGI Japan, Ltd.
  • Matsuno Fumitoshi
    Department of Mechanical Engineering and Intelligent Systems, The University of Electro-Communications

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Other Title
  • ねじ推進ヘビ型ロボットのモデリングと制御
  • ネジ スイシン ヘビガタ ロボット ノ モデリング ト セイギョ

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Abstract

In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

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