3A1-X10 ヘビ型ロボットによる等方的摩擦条件における蛇行推進(バイオミメティクス・バイオメカトロニクス)

Abstract

For snake-like robots, lateral undulatory locomotion has been realized by attaching passive wheels that prevent sideway slip. Utilization of anisotropic friction has been confirmed by biological experiments and considered to be an important factor of lateral undulation. Meanwhile, snakes in nature do not always rely on the anisotropy. In fact, on a smooth and flat surface, they change the weight distribution and concentrate contact force on specific parts of the body, which is known as sinus lifting. This paper shows that lateral undulation can be achieved even with isotropic friction by increasing weight on the point where the magnitude of curvature derivative becomes large.