匍匐型高速移動ロボットとその給紙操作システムへの応用

抄録

Towards achieving stable locomotion on slippery ground, a novel crawling-like robot has been proposed in our previous research. In this paper, we modify the original model to improve the performance and further extend it to feeding manipulation system．First, we derive the system dynamics and control method．Second, typical sliding locomotion is generated via numerical simulation．Third, we introduce the feeding manipulation system，and numerically show the feeding process．