839 くねり運動による雪氷環境移動システム : 粒子シミュレーションによる運動形態の検討(G15-3 生物模倣型移動ロボット,G15 ロボティクス・メカトロニクス)

Abstract

A trial of particle simulation of snow and snake-like mechanical systems which is moving in the snow pack is reported. The mechanical property of snow pack is modeled by particles with the constant resistant force against the motion and elastic contact of inter-particles. Values of parameters are determined from the published experimental results of actual snow. Three motion patterns are applied: sin curve, serpenoid curve, multilink. It is shown that when wave lengths of each mode are the same, their performances are also very similar, regardless of motion patterns. However, when the body length is longer, stability is worsening even in the same motion pattern. These results suggest that the dynamic controlled and adaptive wriggling motion is necessary to achieve more efficient locomotion.