サスペンションを有するヘビ型ロボットの研究

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タイトル別名
  • Study on Snake-like Robot with Suspension
  • (3rd report : Performance of 3rd Prototype Model)
  • （第3報：試作3号機の性能評価）

抄録

<p>Snake-like robot is a hyper-redundant mobile robot with an articulated body composed of serially-connected modules driven by actuators. Recently several hyper-redundant mobile robots have been developed in hope of the versatility brought from its simple form. Snake-like robots have been developed aiming at its applications to operations dangerous to man: the in-pipe inspection at chemical or nuclear energy plants and the rescue of victims under collapsed buildings by making use of its flexible and slender shape, and the mine detection by distributing its own weight on the ground and so on. In this paper, the novel mechanical design is proposed to enhance the mobility for various environments, and a prototype model is composed of serially-connected modules with suspensions. The performance of prototype model is described</p>

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