Control of a snake robot on uneven terrain

2016 Fiscal Year Final Research Report

• Project/Area Number: 26870198
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control; Intelligent mechanics/Mechanical systems
• Research Institution: The University of Electro-Communications
• Principal Investigator: Tanaka Motoyasu 電気通信大学, 大学院情報理工学研究科, 助教 (50633442)
• Project Period (FY): 2014-04-01 – 2017-03-31
• Keywords: ヘビ型ロボット / 不整地踏破 / 障害物回避 / 階段昇降 / ハイブリッド / 拘束変化

Outline of Final Research Achievements

In this study, to propose a control method moving on uneven terrain for a snake robot, we consider following four main topics. (1) Obstacle avoidance of whole body of a snake robot through a multiple obstacle environment. (2) Trajectory tracking on curved surface and multiple planes. (3) Terrain following method by using the robot's own weight on uneven terrain. (4) As application (1)-(3), cleaning control of an articulated cleaning robot on a narrow path and a step and stair climbing control of an articulated mobile robot.

Free Research Field

ロボット工学