腱駆動型柔軟ヘビロボットの開発：全身の屈曲とねじりを統合した駆動
Development of Tendon-Driven Compliant Snake Robot with Global Bending and Twisting Actuation
腱で駆動される連続体セクションを直列に接続し、全身を屈曲・ねじりすることで、部分的な接地を利用したヘビの滑らかな移動を実現するロボットを開発した。
著者: Seongil Kwon, Serdar Incekara, Gangil Kwon, Junhyoung Ha
分類: cs.RO
原文アブストラクト
Snake robots have been studied for decades with the aim of achieving biological snakes' fluent locomotion. Yet, as of today, their locomotion remains far from that of the biological snakes. Our recent study suggested that snake locomotion utilizing partial ground contacts can be achieved with robots by using body compliance and lengthwise-globally applied body tensions. In this paper, we present the first hardware implementation of this locomotion principle. Our snake robot comprises serial tendon-driven continuum sections and is bent and twisted globally using tendons. We demonstrate how the tendons are actuated to achieve the ground contacts for forward and backward locomotion and sidewinding. The robot's capability to generate snake locomotion in various directions and its steerability were validated in a series of indoor experiments.
