陰的・陽的制御に基づく両生類ムカデ型ロボットの開発と移動性能評価
Development of Implicit-Explicit Control Based Amphibious Centipede-Type Robot and Evaluation of its Mobile Performance
陰的・陽的制御の考え方と身体構造の工夫により、単一の制御則で水陸両方を移動できるムカデ型ロボットを開発し、3種類の脚構造で陸上・水中の移動性能を評価した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Yusuke Tsunoda, Seiya Yamamoto, Kazuki Ito, Runze Xiao, Keisuke Naniwa, Koichi Osuka
分類: cs.RO
原文アブストラクト
Multi-legged mobile robots possess high mobility performance in rough terrain environments, stemming from their high postural stability, joint flexibility, and the redundancy provided by multiple legs. In prior research on navigating between different environments such as land and water, the primary strategy employed involves switching to a controller that generates an appropriate gait for the new environment upon entering it. However, designing appropriate gaits for each complex and diverse environment and accurately determining controller switching for each environment is challenging. Therefore, this research develops a centipede-type mobile robot that navigates both aquatic and terrestrial environments with a simple, unified control scheme, based on the implicit-explicit control philosophy and by ingeniously designing the robot's body structure. In this research, we developed the robot featuring flexible joints and left and right legs on each body segment and focused on the leg structure which has extensive contact with the environment. This paper evaluates the locomotion performance on land and water using the three developed leg structures, using the robot's leg slip rate and actuator energy consumption as evaluation metrics. The experimental results confirmed the existence of an appropriate leg structure capable of navigating both aquatic and terrestrial environments under identical control.
