モグラの胴体動作解析と旋回機構の研究

―モグラ型地中探査ロボットの研究・開発―

抄録

In this thesis, we propose a subterranean excavation robot that can move through the ground. This robot uses biomimetics to replicate the movement of a mole. However, there is little detailed literature on mole movement. Therefore, we will start by analyzing the mole's movements. In addition, the mole is an organism that can turn in a narrow environment with a body diameter almost the same as its own, which is a characteristic of moles. In this paper, we report on the behavior analysis of the mole and the design of the soft actuator. The mole is an organism that can turn in a narrow environment with a body diameter almost the same as its own, which is a characteristic of the mole. In this study, we observe the turning motion of the mole and propose an engineering solution and a mechanism to enable the turning.