ヒトの寝返り動作を規範とした索状移動機構の研究

抄録

In this paper, we introduce a cord side rolling mechanism inspired by human’s rolling over. There are many researches of mobile robot that can travel uneven terrain. Although, these robots have high performance on such a terrain, it is difficult to move on soft ground. We propose a novel cord mobile robot that can travel by side rolling inspired by human’s roll over. In this study, the motion analysis of the human’s roll over was conducted, and each joint angle is measured. Then the simulation of rolling over using 3D model of human was done. The simulation indicated that it is important to add the visco-elastic element to do the rolling over.