| Project/Area Number |
21760199
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Okayama University |
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Principal Investigator |
KAMEGAWA Tetsushi Okayama University, 大学院・自然科学研究科, 講師 (80432623)
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| Project Period (FY) |
2009 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2010: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | ロボティクス / ヘビ型ロボット / 螺旋捻転運動 / ヘビ / ロボット / 捻転 / 円柱 / 螺旋 |
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| Research Abstract |
Most of previous snake robot's movements are restricted on a two dimensional plane. In this study, we realized a snake robot which moves the inside and the outside of a cylinder by helical rolling motion. The snake robot is constructed by assembling pitch joints and yaw joints alternately so that it can move in the three dimensional environment. The automatic coiling control to adjust to the diameter of a cylinder is implemented. In addition, some experiments was conducted that the snake robot moves the inside of a curvilinear pipe by shifting its shape gradually. Moreover, the contact force affected to a cylinder was analyzed based on mathematical model.
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