サイドワインディング推進を目的とした省自由度ヘビ型ロボットの開発

―ネジ機構を用いた関節部の開発―

抄録

Snake-like robots are highly adaptable to environments where it is difficult to move in with feet or crawlers. Most snake-like robots perform a “Lateral Undulation” in which they move twisting their bodies from side to side. This method enables them to move over bumps and narrow gaps , but have disadvantage of that is difficult to move on sandy soil or snow. In this paper, we focus on the “sidewinding propulsion method”, which can move in frictionless environments, and propose a moving mechanism for it. In this study, the sidewinding propulsive motion is reproduced by lifting the trunk in conjunction with the bending of the fuselage using a screw shaft, while reduced degrees of freedom.