体積膨張効果を発揮するかさばる構造物の調査

抄録

For the field robotics it is necessary to possess the mobility on irregular grounds. One of methods for improvement mobility is that the robot actively constructs environmental conditions, for example, stacking structural objects enable to bridge uneven floors. In this study we focus on what the novel shape of the structural objects is for supporting to move. Particularly, we investigate the ratio of airspace in ragwork of objects which consist of three rigid cuboid bodies. We employed the genetic algorithm to find the optimal shape of structural objects with computer simulations.