Obstacle aided locomotion for a snake-like robot based on reactive motion
| Project/Area Number |
25820088
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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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) |
2013-04-01 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| 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)
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| 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 |
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| 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.
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Report
(3 results)
Research Products
(7 results)
