ワイヤ駆動蛇型ロボットの曲率近似の検討

抄録

In agriculture work, weeding work in paddy field has been physical burden and taken a lot of working time. As a solution of this problem, stopping the growth of weed by stirring the soil is affective. An example is "Duck farming" that ducks stir the mad by swimming in paddy fields. In this paper, we propose new robot that imitate snakes to stir the soil. A body segment of the snake-like robot is composed of three bending modules , continuous joint mechanism, layered gear and two wire driving mechanisms, we approximate the serpenoid curve by curves without using straight lines.