障害物との接触の維持と回避を併用したヘビ型ロボットの移動制御

抄録

In this paper, we propose new behaviors of a snake robot to adapt to obstacle environment. By using these behaviors, the snake robot can maintain contact with obstacles. In addition, the robot can switch between maintaining contact and avoiding obstacles depending on the situation of obstacles. With this motion, it is possible to improve the moving performance of the robot in environment where obstacles are scattered. The effectiveness of the proposed movement is confirmed by simulations.