匍匐型移動ロボットにおける本体形状の前後非対称性が生む推進効果の解析

抄録

The authors have proposed a crawling like locomotion robot, whose body shapes an arc, with an inner wobbling mass, and it is investigated that the body rotation gives a propulsion according to the body shape. In this paper, we analyze the propulsion effect of an asymmetric shape in the forth-back direction of the body through numerical simulations. First, we introduce the mathematical model of a crawling like locomotion robot with a reaction wheel, the body shape is asymmetric in the forth-back direction. Second, we derive the equation of motion and the control. Third, we discuss the propulsion effect of the asymmetric shape of the body with simulation results. Fourth, we analyze the effect of the position of the center of mass and the driving frequency of the reaction wheel.