抄録
A snake-like robot is expected to be useful in disaster-relief and sewer-inspection by using its slender body and two degree-of-freedom joints. However a conventional snake-like robot has trouble meandering on uneven ground. In this research, we propose a bending and expanding joint unit of three degree-of-freedom. We develop new ACM-S1 (Active Cord Mechanism - Slime model 1) composed of a series of joints. Each joint of ACM-S1 has three flexible rods which are arranged in a circle at even intervals, fixed one end of each rod, and slid the other one. By this means, bending and expanding joint is realized. We examine the motion of practical ACM-S1 with waterproofing and dust-tight structure, and evaluate the performance of Inchworm motion.
