Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
Snake robot can change its own shape flexibly, so it is expected that a snake robot investigates ducts and pipes more effectively. In previous research, a snake robot can move in pipes using helical rolling motion. However, it is difficult that snake robot checks inside of pipes by using camera image because the position and direction of its head link is not stabilized. Therefore, we adopt Virtual Chassis and inverse kinematics to stabilize the head link of snake robot when the snake robot is moving in helical rolling motion. Virtual Chassis is a method of defining center of gravity as an origin of coordinate system, obtaining the spatial orientation of a snake robot by the principal component analysis, and pasting a provisional coordinate system to a snake robot. We compared the case with the head link control to the case without the head link control, and verified how much the camera image has changed. From the experimental results, the center of the camera image approaches to the center of the pipe by the head link control.
