1P1-A12 水中螺旋推進を行う策状能動体の機構と構成(81. スーパーメカノシステムII)

This paper describes the development and experiments of ACM-R3, which is a new version of the Active Cord Mechanism with three-dimensional mobility. This ACM-R3 is equipped with large passive wheels that wrap its body overall, and has frictional characteristics similar to snake-like skin. It is also equipped with radio control servomotors with gears added to them, held tightly by shell frames, so that it can move steadily and with high power With this robot, we realized fundamental two-dimensional serpentine locomotion, lateral rolling locomotion in V, U, or especially S shapes, and coupled locomotion, which employs both serpentine and lateral rolling at the same time. We also realized sinus-lifting locomotion, its mixture mode, 3D lateral rolling, and pedal wave.

This paper considers the problem of serpentine, or snake-like, locomotion from the perspective of geometric mechanics. A particular model based on Hirose's active cord mechanism is analyzed. Using the kinematic constraints, we develop a connection, which describes the net motion of the machine as a function of variations in the mechanism's shape variables. We present simulation results demonstrating three types of locomotive gaits, one of which bears an obvious resemblance to the serpentine motion of a snake. We also discuss how these algorithms can be used to optimize certain inputs given the particular choice of physical parameters for a snake robot.

A snake is able to attain high terrain adaptability and versatile locomotion even though it has an extremely simple one-dimensional configuration. In order to utilize these functions for robotics, we have adapted the basic biological machine elements of the snake into the active cord mechanism (ACM). We have discussed the creeping dynamics and applications to manipulation. In this paper, we develop a new experimental model named ACMR-R1 with a self-contained system, which realizes higher mobility and terrain adaptability compared with the past model. Next, gliding experiments on ice were carried out in order to demonstrate that the creeping motion is the same as the principle of skating. Finally, a new terrain adaptive control method for sloping surfaces is proposed, and we verified the effectiveness of it by slope climbing experiments.

索状能動体の側面方向移動に関する研究(冗長自由度ロボット・メカニズムとその制御)