クモヒトデを規範とした連続体脚ロボットの開発

―連続体脚の省自由度化に有効な螺旋の検討―

抄録

In order to move on uneven ground, control with sensor such as a force sensor is necessary. Thus, we propose a soft continuum leg robot. The continuum legs passively change the shape and improve the ground adaptability without using the sensor. Moreover, the development of the continuum legs referred to brittle star. Brittle star is a moving creature that uses thin, long and flexible legs. It has a high step climbing ability and omnidirectional movement ability with five legs interlocked. These abilities are useful for mobile robots. In this paper, we investigate the effective spirals for the DOF reduction of the continuum leg with reference to brittle star, and calculate the design parameters that can express the target helix.