抄録
In this study, we propose a smooth propulsion method for cord robot to move underground. Inspired by the motion of spotted garden eel from the family of congridae, we focused on the propulsion method to generate propulsion force in whole body by actively undulate the body, carry out the research of the basic movement principle. We made an observation of moving eels in granular medium and analyzed the motion of the eels. As a result, the tip undulated at high frequencies, while the body moved through the same trajectory. Joint driving device was made to make an experiment in the granular medium. We proposed a hybrid undulate motion inspired by the eel which can move faster under the granular than the snake's motion. This motion is a combination of snake's sinusoidal motion and high frequency motion of the tip.
