抄録
First generation robots were mainly for application of industry. Now, next generation robots are for many applications such as security, cleaning, nursing care, living assistance, rescue, etc. We have focused on the rescue robot especially for the unknown situation. We have proposed multi-purpose module system (MMS) which consist of joint modules and function modules. The MMS can change the form such as series-connected from, quadruped form and so on. This is an advantage for unknown situation, because we can change the MMS to the appropriate form after arrived at disaster sites. We have developed several types of modules which included joint modules, sensor modules and communication modules. In this paper, we developed series-connected MMS (MMS-C) and applied the serpentine locomotion to the MMS-C. Trajectory of the MMS locomotion was evaluated by simulation and experiment. Friction force between MMS and ground was considered for simulation. The results indicated that the side slipping is properly evaluated by proposed calculation model. We believe the proposed calculation model is useful in achieving control of MMS to adapt a changing environment.
