螺旋縦波運動により配管外周の分岐点をすり抜けるヘビ型ロボットの実現

抄録

In this study, we propose a type of motion for snake robots that involves wrapping around the outside of a pipe to overcome a branch point on it. This new motion uses a hyperbolic function to make a helical wave curve, which is then propagated by shifting the shape of the hyperbolic function along the body of snake robot. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve on the basis of the formula of the continuous curve model. In this paper, we describe setting guidelines for each parameter. Some experimental results are shown to validate the effectiveness of the new motion.