蠕動運動型ロボットの運動制御

―PSOアルゴリズムを用いた質量分布の最適化―

抄録

This paper is to realize an efficient motion of peristaltic mobile robots. In considering of actual applications, mass distribution of the robot highly affects the motion characteristics. In this paper, we apply a numerical optimization method for deriving the optimal mass distribution. The results are investigated through numerical simulations and experiment.