2021 Fiscal Year Final Research Report
Clarification of Gliding Mechanism of the Flying Snake and Engineering Application for Aerial Robots
| Project/Area Number |
19K04306
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Saitama University |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2022-03-31
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| Keywords | トビヘビ / 滑空メカニズム / バイオミメティクス / ヘビ型ロボット / 機構設計 / 滑空運動制御 / 滑空技術の工学応用 |
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| Outline of Final Research Achievements |
The following four themes were performed to elucidate the aerial gliding mechanism of flying snakes and to apply the gliding principle to robotics: 1. Elucidation of the dynamics properties of the snake's major gliding motion using a gliding snake model, 2. Construction of gliding control methods for a gliding snake-like robot, 3. Development of a lightweight gliding snake-like robot, and 4. Validation of gliding performance and application using the gliding technique of flying snakes. These results showed that the gliding effect were produced in the simulation model and robot by a serpentine motion above a certain speed, and that the simulation model and robot had similar tendencies to flying snakes in amplitude of the serpentine motion and changes in posture. These results were presented at ROBOMECH and other conferences and were covered by newspapers and other media.
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| Free Research Field |
ロボット工学
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| Academic Significance and Societal Importance of the Research Achievements |
従来の滑空を行う生物は左右対称の翼を用いて飛行中に滑空形態を変更しない静的滑空を行うが，トビヘビは紐状である身体を蛇行させ形態を積極的に変更させて翼の機能を果たす動的滑空を行うため，トビヘビの滑空技術は従来の翼による滑空技術とは一線を画す革新的な技術である．トビヘビの滑空技術の核となる蛇行運動をモデル化して解析し滑空ヘビ型ロボットの制御法の基礎を構築しただけでなく，生物学におけるトビヘビの研究においても工学的なアプローチから議論を深めることができた．また，トビヘビの滑空に関する技術を工学的に応用することにより，新たな滑空移動体のための離陸技術や操舵技術を検討することができた．
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