ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A1-K05
会議情報
2A1-K05 非構造環境下での這行が可能な自律分散型ヘビロボット : 数理モデリング(自律分散型ロボットシステム)
加納 剛史佐藤 貴英平井 明礼小林 亮石黒 章夫
著者情報
会議録・要旨集 フリー

詳細
抄録
Snakes actively utilize terrain irregularities and attain propulsion force by pushing their bodies against scaffolds. The objective of this study is to understand the mechanism underlying this locomotion. Our previous control scheme of a snake-like robot, in which the curvature derivative control method is combined with a reflexive mechanism using local pressures on the body wall, could not fully reproduce innate behavior of real snakes. In this study, we improve our previous control scheme. We show that the locomotion of a simulated robot with the improved control scheme is surprisingly in good agreement with the locomotion of a real snake.
著者関連情報
© 2012 一般社団法人 日本機械学会
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