Development of snake robot that climbs a cylinder by helical rolling motion

以往的蛇形机器人运动大多局限于二维平面上。在本研究中，我们实现了一个蛇形机器人，它通过螺旋滚动运动在圆柱体的内部和外部移动。蛇形机器人由俯仰关节和偏航关节交替组装而成，使其能够在三维环境中运动。实现了自动卷取控制，以适应圆筒直径。此外，还进行了蛇形机器人在曲线管道内通过渐变形状进行移动的实验。此外，基于数学模型分析了接触力对气缸的影响。

Most of previous snake robot's movements are restricted on a two dimensional plane. In this study, we realized a snake robot which moves the inside and the outside of a cylinder by helical rolling motion. The snake robot is constructed by assembling pitch joints and yaw joints alternately so that it can move in the three dimensional environment. The automatic coiling control to adjust to the diameter of a cylinder is implemented. In addition, some experiments was conducted that the snake robot moves the inside of a curvilinear pipe by shifting its shape gradually. Moreover, the contact force affected to a cylinder was analyzed based on mathematical model.