2A1-K11 A Novel Snake-like Robot with Multi Gaits(Environmentally-Adapted Mechanism and Control)

概要

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It is important for a snake-like robot to have more available gaits for a higher adaptability. However, there are few snake-like robots to realize all of the common gaits under the current research framework. In this paper, a novel snake-like robot is proposed to resolve this question. At first, the snake-like gaits were analyzed to inspire the mechanism design. Based on the gait analysis, some non-snake-like mechanisms such as translating and rolling degree are integrated with the classical yaw joint. Next, the robot prototype was introduced and some basic experiments were performed to verify the expecting motion ability. This novel robot is expected to have a higher adaptability for its ability of multi gaits
一般社団法人日本機械学会の論文
2011-05-26