Departmental Bulletin Paper 柔軟な胴体と脚を有するムカデ型半自律ロボット

増田, 昌浩

57pp.1 - 6 , 2016-03-24 , 法政大学大学院 理工学・工学研究科
In this study, we focus on a centipede. The thin shape enables it to move into narrow spaces, and its length and many legs endow it with high mobility. However, when esigning its robotic counterpart, these features cause operational disadvantages. In general, it is extremely difficult to control the many degrees of freedom adapting to complex environments such as rubble. The main objective of our research was determining how to address this disadvantage without losing the benefits. We observed the movements of a real centipede and found that the key to realizing this is flexibility. In this study, we propose a flexible mechanism for a multi-legged robot that can adapt to a rubble environment. Key Words : centipede, flexibility, multi-legged

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