ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-C05
会議情報

ヘビ型ロボットの前後異方性摩擦と感覚フィードバックを用いた蛇行運動の創発
*大高 浩太郎井上 康介福岡 泰宏
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会議録・要旨集 認証あり

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This study aims to develop a snake robot that can autonomously slither over terrains with different surface friction, like outdoor environments. We build a snake robot with a scaled up plate under each segment, based on the property of longitudinal frictional anisotropy of a real snake’s scales. The robot is driven by central pattern generators (CPGs) with two kinds of sensory feedback. Sensory feedback affects the CPG for each joint and autonomously changes the phase differences between CPGs. Adjacent CPGs are excitedly coupled with each other to help their movement and oscillate in phase. However, the snake robot autonomously makes serpentine locomotion because of sensory feedback.

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© 2019 一般社団法人 日本機械学会
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