Self propulsive soft manipulator driven and controlled by fluid power capable of three dimensional motion

2017 Fiscal Year Final Research Report

• Project/Area Number: 15K05922
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: University of Tsukuba
• Principal Investigator: Date Hisashi 筑波大学, システム情報系, 准教授 (50531985)
• Co-Investigator(Renkei-kenkyūsha): OHYA Akihisa 筑波大学, システム情報系, 教授 (30241798)
• Research Collaborator: HIHARA Kotaro
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: 柔軟マニピュレータ / 流体機械 / ヘビ型ロボット / 内視鏡

Outline of Final Research Achievements

This research aims at achieving three dimensional motion of a soft manipulator driven and controlled by fluid. Inspired by snakes capable of progressing solely by bending their body, a kind of endoscopic device that can progress into a complicated narrow space is expected to be realized by the similar mechanism. In this research, a two dimensional hyper-redundant manipulator with curvature derivative control is revised to realize three dimensional motion.

Free Research Field

非線形制御、移動ロボット、ロボット制御