自励駆動ヘビ形推進機構に関する研究(機械力学,計測,自動制御)

概要

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Snake-like animal locomotion by means of friction force can perform many kinds of motion and body shape. We have proposed the method of locomotion based on self-excitation principle in order to realize the high speed and high efficiency locomotion. In this study, we applied the self-excited locomotion to a snake mechanism. First we analyzed the kinematics and the dynamics of a three link snake mechanism driven by the self-excitation. Then we manufactured a prototype of a snake robot. By experimental identification of the traction parameters of the robot, we showed a good agreement between the experimental and simulated results and a high locomotion velocity of 0.4[m/s]. We further showed the high efficiency of the self-excited snake locomotion.
一般社団法人日本機械学会の論文
2002-04-25