Locomotion and Coiling Motion Control of Snakelike Robot using Pneumatic Actuators

Hiroki Izu; Hisashi Date; Kouichi Shigeta; Toshiro Yamanaka; Shigeki Nakaura; Mitsuji Sampei

doi:10.11499/sicep.2002.0.326.0

SICE Annual Conference 2002

DOI https://doi.org/10.11499/sicep.2002.0.326.0

会議情報

主催: The Society of Instrument and Control Engineers

共催: IEEE/Industiral Electronic Society, IEEE/Robotics and Automation Society, IEEE/Control System Society

Locomotion and Coiling Motion Control of Snakelike Robot using Pneumatic Actuators

Hiroki Izu, Hisashi Date, Kouichi Shigeta, Toshiro Yamanaka, Shigeki Nakaura, Mitsuji Sampei

著者情報

キーワード: snakelike robot, pneumatic actuator, locomotion, coiling motion

会議録・要旨集フリー

p. 326

詳細

抄録

This paper deals with locomotion and coiling motion control experiments of a snakelike robot which has passive wheels and active joints. First, a new snakelike robot is shown. This robot has pneumatic actuators for its driving joints, that is more suitable for a coiling motion than electric motors and reduction gears. Then the motions have been realized experimentally applying feedback control to the robot.

責任著者(Corresponding author)

J-STAGEへの登録はこちら（無料）