フィールド探索における索状ロボットの研究開発

―波動減速機構を用いた差動モジュールの設計―

抄録

We describe the development of a cord-like robot with redundant degrees of freedom using differential modules as a robot that can work not only in Satoyama, which is difficult to enter, but also in various environments such as caves and burrows of living things. A cord-like robot has high environmental adaptability and running performance, and in order to take advantage of their greatest characteristics, it is necessary to achieve high torque and robustness that can withstand physical damage in harsh environments. The specific work content of this robot includes "three-dimensional movement, monitoring, and measurement", and since it is assumed that the robot cannot be directly seen, it is operated using a remote control interface.