4つのステアリングを持つ4叉ヘビ型ロボットの制御(機械力学,計測,自動制御)
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概要
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This paper introduces and describes a new type of wheeled locomotor, a four-steering, four-forked snake-like robot. This wheeled locomotor is a nonholonomic mechanical system, and it consists of four links, three rotational joints and four steering systems. The four links are coupled by the three rotational joints which have the common rotational axis. Each link has a steering system at its middle point. The wheeled locomotor makes undulatory locomotion in which it transforms the rotations of the three joints into its movement by using the four steering systems. Especially, we assume a virtual joint which has identically the same rotational axis as the common one of the three joints. This virtual joint couples the first link and a virtual link which has a virtual axle at its middle point and which has a virtual steering system at its tip. We prove that, by assuming such virtual mechanical elements, it is possible to convert the kinematical equation of the wheeled locomotor into five-chain, single-generator chained form in a mathematical framework, differential geometry. Based on chained form, we derive a path following feedback control method which makes the wheeled locomotor follow a straight line. The validity of the mechanical design of the four-steering, four-forked snake-like robot, the conversion of its kinematical equation into chained form, and the path following feedback control method has been verified by computer simulations.
- 一般社団法人日本機械学会の論文
- 2006-03-25
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