局所振動を用いた多リンクヘビ型砂上移動ロボットの開発

抄録

Sand, or brunch of accumulated powder particles, often exhibits complicated fluid behavior when a vibrating object is put on its surface. In this study, we aim at developing a mobile robot suitable for locomotion on sandy surface utilizing partial vibration. The mobile robot is inspired by serpentes which have been adapted to move around on extremely uneven terrain. In this paper, we investigate frictional forces generated between the vibrated objects and sandy ground, and carry out motion experiment of snake-like robot with partial vibration mechanism on sand. As a result, we show that the frictional forces decrease ,and snake-like robot move more straight when vibration is added to the sandy ground.