角ダクト内移動のためのヘビ型ロボットの楕円螺旋捻転運動

抄録

Snake robot is expected to be used for searching narrow space in disaster sites, and inspecting ducts and pipes on a daily basis. In this paper, we propose a method for moving in a duct. Our snake robot can move by normal helical rolling motion in the duct of a square cross section. On the other hand, the snake robot may not be able to move by normal helical rolling motion in a duct of a rectangular cross section because the snake robot cannot touch all sides of the duct. Therefore, we propose elliptical helical rolling motion. Also, we propose a method to correct the elliptical helical shape with the shape of duct when the robot is moving. In actual experiment, we verified the effectiveness of the correction.