抄録
In this paper, analysis of locomotive dynamics of the Active Cord Mechanism is described. Lateral undulation of terrestrial snake is a unique locomotion pattern and interesting as a mechanical phenomenon, but the analysis in prior research were not so generalized. For example, sinus-lifting, which is an important locomotion style of snakes, have not been analyzed because the dynamics in sinus-lifting is relatively complex. So we introduce generalized basic equations of the locomotive dynamics of the ACM using equilibrium of external forces, internal forces, and torques acting in a snake's body. Then we show analysis of locomotion in 2 different cases; locomotion with steady resistant force, and locomotion with sinus-lifting. The analysis shows the feature of the phenomena and provides condition of friction necessary for locomotion, and the effectiveness of sinus-lifting is clarified quantitatively for the first time. The results of analysis are verified by experiments of a real snake-like robot, which was newly developed for a measurement of bending torque during lateral undulation.
