圧縮ばねを用いた三点支持構造とケーブル駆動機構を有する蠕動運動型移動ロボットの開発

抄録

A wide variety of species living in the world have unique physical functions and tissue structures that have evolved to survive in the harsh natural world. These features that humans cannot possess have been reproduced by technology to improve performance and expand the functions of machines. Mobile robots that imitate the characteristics of living organisms use a variety of mechanisms, such as wheeled, legged, snake-type, and peristaltic types. In terms of the range of motion and frontal projected area, the peristaltic type is superior for moving in a conduit. In addition, the peristaltic type is expected to be useful in narrow spaces in view of its ability to bend. In this study, we have developed a peristaltic mobile robot with a kinematic cable drive mechanism using three compression springs.