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

开发通过螺旋滚动运动攀爬圆柱体的蛇形机器人

• 批准号: 21760199
• 负责人: KAMEGAWA Tetsushi
• 金额: $ 1.66万
• 依托单位: Okayama University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Young Scientists (B)
• 财政年份: 2009
• 资助国家: 日本
• 起止时间: 2009 至 2010
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-21760199/
• 关键词: ロボティクス; ヘビ型ロボット; 螺旋捻転運動; ヘビ; ロボット; 捻転; 円柱; 螺旋

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.

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。

项目成果

A snake robot propelling inside of a pipe with helical rolling motion

• 发表时间: 2010-10
• 期刊: Proceedings of SICE Annual Conference 2010
• 作者: Toshimichi Baba;Yoshihide Kameyama;T. Kamegawa;A. Gofuku

Realization of cylinder climbing locomotion with helical form by a snake robot with passive wheels

• DOI: 10.1109/robot.2009.5152862
• 发表时间: 2009-05
• 期刊: 2009 IEEE International Conference on Robotics and Automation
• 作者: T. Kamegawa;Takaaki Harada;A. Gofuku

ヘビ型ロボットの車輪接触方向を考慮した円柱表面をうねり推進するための連続曲線の導出

考虑蛇形机器人车轮接触方向的圆柱面上波动推进连续曲线的推导

• 发表时间: 2009
• 作者: 野波博敬;亀川哲志;五福明夫
• 通讯作者: 五福明夫

ヘビ型ロボットの円柱内螺旋捻転運動における移動速度の導出

蛇形机器人在圆筒内螺旋扭转运动的运动速度推导

• 发表时间: 2010
• 作者: Toshimichi Baba;Yoshihide Kameyama;Tetsushi Kamegawa;Akio Gofuku
• 通讯作者: Akio Gofuku