Author:
Sugita Saori, ,Ogami Kazunori,Michele Guarnieri,Hirose Shigeo,Takita Kensuke, ,
Abstract
This paper presents ACM-S1 (Active Cord Mechanism - Slime model 1), a snake-like robot. Conventional snake-like robots have difficulty negotiation uneven ground. In this paper, we propose “a bending and expanding joint unit” which has three degrees of freedom (3DOF) in inchworm/angleworm-like motion and has been developed to solve this problem. The ACM-S1 we developed is composed of a series of these joint units. Experiments conducted to evaluate ACM-S1's performance demonstrate the effectiveness of inchworm motion over uneven ground and of angleworm motion over flat, smooth ground.
Publisher
Fuji Technology Press Ltd.
Subject
Electrical and Electronic Engineering,General Computer Science
Reference10 articles.
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