匍匐型移動ロボットを用いた物体搬送システムの実機開発

抄録

In this paper, we propose a novel conveyor system that achieves transportation on low friction surface by utilizing our crawling-like locomotion robot which owes the capability to slide on slippery ground．First, we derive the equations of system dynamics and control．Second, we analyze the effect of system parameters on the velocity of transported object using this method via numerical simulation. Finally，we design an experimental machine for further verification of the numerical results．