サイドワインディング推進を目的とした省自由度ヘビ型ロボットの開発

―単位節の再設計による動作の実現―

抄録

We focused on sidewinding propulsion, which desert snakes use to traverse soft sandy terrain. This propulsion method has the characteristic of raising the trunk when the snake bends to one side and lowering the trunk when the snake bends in the opposite direction. Most snake-like robots that realize this motion use actuators to lift the trunk, and thus have an active degree of freedom in the vertical direction. However, it is not necessary to use active DOFs to lift the trunk. In this study, we propose a new method Saving freedom the longitudinal active DOFs and to increase the bending angle of the trunk by performing the vertical movement in conjunction with the lateral bending movement.