ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-I05
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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
*建部 俊介近藤 翔太伊東 和輝浪花 啓右角田 祐輔衣笠 哲也大須賀 公一
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“ 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.

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