Abstract
We are developing "connective balloon robots"."Connective balloon robots"can move in the room because it is as long and slender as the snake. The indoor environmental map is produced by using "connective balloon robots". Relative position of the unit is important when airship unit is operated. Airship units are connected by passive joint of two axes. Joint can measure the angle using potentiometer. Relativity position of the airship unit can be detected by using measured angle. By this text, I calculate the relative position between the airship units and simulate.
