タコの把持戦略を再現した柔軟多脚型ロボット : TAOYAKA-S III : 体幹の強度維持と軽量化の両立による自立化の実現

DOI 機関リポジトリ (HANDLE)

書誌事項

タイトル別名
  • FLEXIBLE MULTI-LEGGED ROBOT THAT MIMICS THE GRASPING STRATEGY OF OCTOPI : TAOYAKA-S III : REALIZATION OF SELF-CONTAINMENT BY BOTH MAINTAINING THE RIGIDITY AND REDUCING THE WEIGHT OF THE TRUNK

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説明

We have developed the robot “TAOYAKA-S Ⅲ” that mimics the grasping strategy of octopi for the purpose of inspecting infrastructure pipes. The conventional robot “TAOYAKA-S Ⅱ” could climb pipes of various shapes with simple control. However, its movement was restricted by separated the power source, computer for control, and actuators to move the body. To realize self-containment, we redesigned the trunk by both maintaining the rigidity and reducing the weight. In addition, we installed the small servomotors, the batteries, and the microcomputer into the body. Finally, we confirmed that the proposed robot can climb unknown columnar objects and that its mobility performance has been improved.

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詳細情報 詳細情報について

  • CRID
    1390574490535859200
  • DOI
    10.15002/00025311
  • HANDLE
    10114/00025311
  • ISSN
    24368083
  • 本文言語コード
    ja
  • 資料種別
    departmental bulletin paper
  • データソース種別
    • JaLC
    • IRDB
  • 抄録ライセンスフラグ
    使用可

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