1A2-J09 モグラの堀削動作を参考にした土中推進探査機の開発 : 第2報:3次元方向操舵手法(サーチ&レスキューロボット・メカトロニクス)

概要

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In this study, a new method of steering for the burrowing inspector is proposed, which is aimed to move into the soil on its own and inspect survivors more efficiently. The burrowing inspector is useful at landslide disaster sites, which occur after earthquakes, heavy rain, and accidents. The proposed propulsion method is inspired in the movement of a mole, which advances efficiently by pushing aside the soil with the shoveling motion. However, previous method of steering was not effective in some cases, and it was only for 2-dimensional steering. To solve these problems, characteristics of the steering are verified through additional basic experiments. Then, a new method of steering is proposed, and its efficiency is verified through experiments. Moreover, a method of 3-dimensional steering is proposed, which makes it possible to steer without using an additional pneumatic motor.
一般社団法人日本機械学会の論文
2011-05-26