軸方向波動伝播機構を用いた小型移動ロボットの設計・開発

抄録

This paper presents a small mobile robot using uniaxial wave propagation mechanism. The wave propagation mechanism is driven by a single helical shaft driven with a single rotary motor. The prototyped robot is equipped with the dual wave propagation mechanisms to achieve steering locomotion on a plane. The developed robot was experimented to evaluate the mobility performance of the developed robot, and the experiments confirmed that the developed robot can demonstrate translational locomotion, steering, and spin turn on flat surfaces.