Development of a snake-like robot realizing three dimensional motion with obstacle aided behavior
| Project/Area Number |
15K05898
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Okayama University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2017: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2016: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2015: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Keywords | ヘビ型ロボット / 圧力センサ / 螺旋捻転運動 / 反射行動 / ３次元運動 / 接触センサ |
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| Outline of Final Research Achievements |
In this research, a snake-like robot aims to move in a complicated narrow space utilizing dynamical interaction with the surrounding environment. We have developed a new snake-like robot which can measure pressure around its whole body as well as can achieve make three dimensional movement. We have verified the robot can measure pressure in real time when it moves the inside of 200mm straight and bending pipes. We also studied an algorithm to change the shape reflectively in a pipe by pressure measured by a snake-like robot.
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Report
(4 results)
Research Products
(18 results)
