Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
This paper proposes a novel centipede-like robot with active intersegment joints. First, we establish the specifications of the robot and design and construct a robot with satisfying the specifications. The segment of the robot which is addressed in this paper has a pair of legs which has 3 degrees of freedom (DoF) and 3-DoF active joint which connects the adjacent segmented body. By adopting a parallel link mechanism type inter-segment joint, the distance between the segments closes and the contact point exchange becomes easy.
