Hoop-Passing Motion for a Snake Robot to Realize Motion Transition Across Different Environments
説明
A snake robot performs diverse motions. To realize a wide range functions in a complex environment, it is necessary to transition between various motions suited to each environment. In this article, we propose a method of transitioning the motion of a snake robot across different environments to expand the application environment of the robot. We first find that the motion at the connection point between two motions must coincide with the tangential movement during motion transition across different environments. We then design a gait called the circular pedal wave. This circular pedal wave allows a hoop-passing motion in which the whole body moves as if it is passing through a virtual hoop fixed in space in sequence from its head through combination with a proposed shift part. The hoop-passing motion allows motion transition across different environments. We propose three application examples of this hoop-passing motion, namely passing through a hole in a wall, entering an underfloor, and attaching to a ladder. We report on experiments conducted to verify the effectiveness of the proposed method and to realize the described motions.
収録刊行物
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- IEEE Transactions on Robotics
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IEEE Transactions on Robotics 37 (5), 1696-1711, 2021-10
IEEE
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詳細情報 詳細情報について
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- CRID
- 1050291037052999936
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- NII論文ID
- 120007188394
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- ISSN
- 15523098
- 19410468
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- 本文言語コード
- en
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- 資料種別
- journal article
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- データソース種別
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- IRDB
- Crossref
- CiNii Articles
- KAKEN
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