曲率微分制御による流体駆動柔軟マニピュレータ

抄録

In this paper, we develop a snake like fluid driven manipulator with curvature derivative control. With this control, the manipulator progresses forward when the lateral movement is constrained, otherwise every joints goes to be equal to a tip joint and the manipulator behaves like a elephant trunk. We propose a mechanism which reproduces a curvilinearly lateral undulation of snakes in 3 dimensions. In the manipulator, each joint is controlled by bellows actuation in response to slide valve in each link of snake body. We developed a prototype of the mechanism and experimented the performance of the prototype.