抄録
This paper explains a snake-like robot with a thin body and a large wheel and its simulation. This study aims to improve the energy efficiency of the snake-like robot. In order to evaluate the algorithm of the snake-motion, new snake-like robot has been developed. This snake-like robot can make a three-dimensional movement with powerful servo motors and has a thin body. The mechanical design of the thin body snake robot and the optimization of the motion of the simulated snake robot, which is equipped with a large wheel in each section, through Genetic Algorithm are explained. An acquired optimal motion is the cycle between a propulsion phase with serpentine locomotion and sliding in straight.
