20916 劣駆動によるヘビ型ロボットの開発 : 第1報:機構の提案と動作の検証(ロボティクス(4):ロボット技術の開発,OS12 ロボティクス)

概要

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The purpose of this research is to develop an under-actuated snake-like robot. There are many researches about snake-like robots. Many of snake-like robots require a lot of actuators corresponding to their joints. That may cause some negative effect such as increasing power consumption and complex control. In order to solve these problems, we propose a mechanism, the head joint of which is active and the other joints are passive. Namely there is only one active joint in our snake-like robot. The motion principle is quite simple ; the vibration generated by active joint is transmitted down to the tail link as a wave like motion. This paper shows that this simple mechanism can move foward, where we determine the parameters by experimental design.
社団法人日本機械学会の論文
2006-03-09