• Search Research Projects
  • Search Researchers
  • How to Use
  1. Back to previous page

Obstacle aided locomotion for a snake-like robot based on reactive motion

Research Project

Project/Area Number 25820088
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeMulti-year Fund
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionOkayama University

Principal Investigator

KAMEGAWA Tetsushi  岡山大学, 自然科学研究科, 講師 (80432623)

Project Period (FY) 2013-04-01 – 2015-03-31
Project Status Completed (Fiscal Year 2014)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2014: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2013: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Keywordsヘビ型ロボット / 反射行動 / 障害物利用推進 / 接触センサ / 側抑制
Outline of Final Research Achievements

In this research, I have proposed an algorithm that a snake-like robot moves reactively based on information of contact sensor, such that the snake-like robot utilizes obstacles existing in an environment. The effectiveness of proposed algorithm is verified by experiments of a dynamical simulation model and a real mechanical model. From the experimental results, it is verified that the snake-like robot realize an efficient locomotion by the reactive motion. On the other hand, I also confirmed that we need another algorithm that considers friction force between a robot and an obstacle to improve the locomotion.

Report

(3 results)
  • 2014 Annual Research Report   Final Research Report ( PDF )
  • 2013 Research-status Report
  • Research Products

    (7 results)

All 2015 2014 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (6 results)

  • [Journal Article] 螺旋尺取り方式を用いて円柱を移動するヘビ型ロボットの提案2015

    • Author(s)
      亀川 哲志, 斉 偉, 五福 明夫
    • Journal Title

      計測自動制御学会論文集

      Volume: 51 Pages: 8-15

    • NAID

      130004855718

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Presentation] Development of Snake Robot with Obstacle Aided Locomotion by Reverse Latelal Inhibition2015

    • Author(s)
      Tsubasa Watanabe, Sosyo En, Tetsushi Kamegawa, Akio Gofuku
    • Organizer
      Second International Workshop on Functional Modelling for Design and Operation of Engineering Systems
    • Place of Presentation
      Okayama
    • Year and Date
      2015-03-31
    • Related Report
      2014 Annual Research Report
  • [Presentation] 狭隘空間で側面が接触した際に反射的な動作を行うヘビ型ロボットの試作2014

    • Author(s)
      袁蘇湘,亀川哲志,五福明夫
    • Organizer
      計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      東京
    • Year and Date
      2014-12-16
    • Related Report
      2014 Annual Research Report
  • [Presentation] MR流体を用いたヘビ型ロボットのための小型ダンパの開発2014

    • Author(s)
      渡辺翼,亀川哲志,五福明夫
    • Organizer
      計測自動制御学会システム・情報部門学術講演会
    • Place of Presentation
      岡山
    • Year and Date
      2014-11-21
    • Related Report
      2014 Annual Research Report
  • [Presentation] Evaluation of Snake Robot's Behavior Using Randomized EARLI in Crowded Obstacles2014

    • Author(s)
      Tetsushi Kamegawa, Ryoma Kuroki, Akio Gofuku
    • Organizer
      IEEE International Symposium on Safety, Security and Rescue Robotics
    • Place of Presentation
      Hokkaido
    • Year and Date
      2014-10-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] 拡張反側抑制を用いたヘビ型ロボットの障害物利用推進2014

    • Author(s)
      亀川哲志,黒木亮磨,五福明夫
    • Organizer
      日本ロボット学会学術講演会
    • Place of Presentation
      福岡
    • Year and Date
      2014-09-04
    • Related Report
      2014 Annual Research Report
  • [Presentation] 接触検知機能を持つヘビ型ロボットの拡張反側抑制を用いた障害物利用推進

    • Author(s)
      黒木亮磨,亀川哲志,五福明夫
    • Organizer
      第14回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      神戸
    • Related Report
      2013 Research-status Report

URL: 

Published: 2014-07-25   Modified: 2019-07-29  

Information User Guide FAQ News Terms of Use Attribution of KAKENHI

Powered by NII kakenhi