Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
In this research, we installed a sensor capable of measuring the pressure around the full circumference on a snake robot and developed behavior of the snake robot whose joint movement changes according to the measured value of the pressure sensor. We propose an algorithm that a snake robot push environment in the case where propulsive force can be obtained against pressure received from the environment during movement, and detach from the environment when propulsive force can not be obtained. Experiments were conducted to evaluate the proposed method. In the experiment, the snake robot moves in a test course. Time and energy consumed by moving in the test course were compared between when using the proposed method and when not using it.
