シリアルリンク構造を用いた軸方向多面波動型移動ロボットの開発

抄録

This paper presents uniaxial multi-planar wave locomotion units with serial link structures of mobile robots. The wave locomotion mechanism is driven by a single helical shaft. The pins placed around the shaft are pushed out by rotating the shaft. Serial links are attached to the end of pins, and propulsion is generated by pushing the pin out to ground the link. In this study, rigid serial link structures were designed and a prototyped robot with the serial link structures was developed. Through locomotion experiments, we demonstrated that the proposed robot system has mobility on a horizontal plane and in a pipe. The result confirmed that the robot can travel on the sand.