路面環境に適応した蠕動運動型ロボットの運動制御

抄録

In this study, we focus on a peristaltic motion that is locomotive pattern of earthworms. To realize effective motion of the peristaltic mobile robot, motion patterns are generated based on the dynamical model and the particle swarm optimization algorithm, one of the meta-heuristic optimization. The optimized results are investigated by comparing to simple periodic patterns through numerical simulations and experiments. The motion control with switching of input patterns in response to changes in the friction environment is demonstrated to improve the travel distance.