2009 Fiscal Year Final Research Report
Study of Mechanism and Control of Terrain-Adaptive Amphibious Snake-like Robots
| Project/Area Number |
18206026
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| Research Category |
Grant-in-Aid for Scientific Research (A)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
HIROSE Shigeo Tokyo Institute of Technology, 大学院・理工学研究科, 教授 (70108215)
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| Co-Investigator(Kenkyū-buntansha) |
FUKUSHIMA E.Fumihiko 東京工業大学, 大学院・理工学研究科, 准教授 (80262301)
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| Project Period (FY) |
2006 – 2009
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| Keywords | ヘビ型ロボット / 水陸両用ロボット / 環境適応 / 索状体能動体 / 配管検査 / レスキューロボット / 多関節機構 / 蛇行推進 |
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| Research Abstract |
This project aimed at systematization of the applicant's over 30 years of research on snake-like robots and development of a system of practical use which reflects both recent technological innovations and our past research achievements. We have successfully developed its morphological and mechanical theoretical frameworks, and have laid out the basis for its design and control frameworks. We also developed several multi-joint sensors and three robots that will provide the basis for the system of practical use which we aim to develop.
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