抄録
This article presents a design method of the motion equation employing COG Jacobian for a snake-like robot. Robots are expected to be new tools for the operations and observations in the extreme environments where human has difficulties for acceding directly. Adaptability of robots is one of the important issues. Recently, as the solutions, biomimetic robot systems which are inspired by the properties of animals attract attentions. In particular, snake-like robots are expected as the robot system which enables to go through several environments. Snake-like robots have many links and joints, and the simulation of the robot needs a large amount of calculations. Therefore, considering the efficient method of calculation is very important in the simulation of snake-like robots. In this paper, we considered the calculation method using COG Jacobian for snake-like robot.
