索状ロボットのための被覆実装可能な触覚センサの開発

抄録

This paper describes a development of a tactile sensor for covering whole surface of a snake robot. This sensor has a flexible and sheet shaped structure, and is designed to be fitted to the cylindrical surface of each of the links of the robot. The output of the sensor enables to estimate the contact position and the contact force, that is, normal force and tangential force. Experimental results are also shown to examine the availability of the sensor for the above purpose and how to use the sensor in the actual motion of the snake robot in the real fields.