索状能動体に関する研究

―システムの自立化と対地適応推進―

抄録

A snake is able to attain high terrain adaptability and versatile locomotion even though it has an extremely simple onedimensional 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) . And we have discussed about the creeping dynamics and applications to manipulation. In this paper, we developed a new experimental model named“ACM-R1”with a selfcontained system, which realizes higher mobility and terrain adaptability compared with a 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 by slope climbing experiments.