平行リンク機構型３自由度体節間関節を持つムカデ型ロボットの実機開発

抄録

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.