ゲインシフトによるヘビ型ロボットのU字曲管外周に沿った移動の実現

抄録

Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that snake robots work in environments constructed by pipes which are arranged parallel and densely. We made a snake robot which is constructed by assembling joints of yaw and pitch alternately. We adopted servo motor Dynamixel XL-320, and made software to control the robot. This robot is so tiny that we accomplish a task of movement on straight pipe using helical-rolling motion in densely arranged pipes. In addition, we propose a new control method that we call Gain Shift Control which can move outside of U-type bent pipe.