双胴柔軟クローラ型ロボット“d-FlexCraw”の走行時姿勢制御と直進性評価

抄録

“ d-FlexCraw ”is a novel robot featuring a dual-body configuration with highly flexible tracks, allowing versatile three-dimensional curvature. The tracks adapt to terrain via a vertebral body with passive joints and multiple degrees of freedom, manipulated by wires. However, maintaining posture proves challenging due to external forces. This paper proposes a joint angle-based control algorithm to address this issue, aiming to enhance autonomous control and alleviate human workload. Our implementation focuses on evaluating straight-line performance, showcasing the potential of our approach.