自重を補償するモジュールロボットの研究(第2報)

自重補償モジュールによるロボットの構築

抄録

If one robot system can take various shapes, it can play various roles and be useful. Modular robots are robot systems in which multiple modules construct a robot by uniting, and it is possible to construct robots of other shapes by changing combinations of uniting of modules. In a conventional modular robot, there is a constraint on shape construction by gravity and some shapes are not able to be constructed. In this study, We propose a gravity compensation modular robot in order to solve this problem. This paper describes the design and prototyping of the gravity compensation modular robot and example of robot shapes by the gravity compensation modules and motion experiments of the robots.