3次元蛇型ロボットの動力学解析(機械力学,計測,自動制御)

概要

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Snake-like robots that behaves biological snakes' characteristics have possibility to make them supremely adapted for environment. In this paper, we firstly formulate the kinematics and the dynamics of a 3-dimensional snake robot and then analyze the sinus-lifting creeping motion as an example. The sinus-lifting motion is a phenomenon observed during rapid motion of the snake, and is an adaptive function peculiar to regular creeping motion, designed to prevent slippage in the normal direction of the body and to allow application of the greatest possible motive force. In this paper, the sinus-lifting motion was imaged as the creeping motion in 2-dimensional plane with different distribution of normal reaction forces for simplicity. Comparison has been performed between the creeping locomotion with uniform normal reaction forces, and the sinus-lifting creeping motion where the normal reaction forces are distributed by the weight with respect to the body curvature. As a result, we know that the snake-like robot in the sinus-lifting creeping motion mode with curvature-weighted normal reaction forces moves at higher speed than that in the creeping motion mode with uniform normal reaction forces.
社団法人日本機械学会の論文
2004-04-25