とげの往復運動を利用した不整地移動機構

抄録

In this study, a novel movement mechanism using reciprocating spikes on low friction undulated sloping terrain is proposed. This mechanism obtains propulsion force by reciprocating motion of unsymmetrical friction multiple spikes touching the ground surface and this mechanism can move in slippery environment like grass, without tumble or stack. The propulsion is analyzed, friction characteristics are evaluated using simplified model of single spike, and linear motion is experimented using a module that has spike blades on some types of terrains. Cylinder-like modules covered with the blades are developed and succeed at moving in real environment and turning its moving direction by connecting multiple modules.