1A2-B20 嬬動運動型掘削ロボットの開発

抄録

Development of a small and light robot that excavates by itself is required. Although developments of excavation robots have been performed, they filled a demand that did not exist. We focused on the peristaltic crawling of an earthworm as a locomotion mechanism and developed a small excavation robot. First, we proposed that the excavation robot consists of two parts: propulsion and excavation. We decided to use an earth auger for the excavation part. Then, the propulsion part moves by peristaltic crawling. The propulsion part must restrain the unit against the rotation reaction of the earth auger. Therefore, we focus on a dual-pantograph mechanism. We constructed a peristaltic crawling robot that has dual-pantograph mechanism. Good performance was observed in the experiments.