Development of Practical 3-Dimensional Active Cord Mechanism ACM-R4
Hiroya Yamada, and Shigeo Hirose
Department of Mechanical and Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan
Despite the many studies on snake-like robots and long, thin super-redundant manipulators targeting their potential applications in complex environments, e.g., containing obstacles such as water and/or dust that impede robot movement, most have limited their investigation to robot maneuverability within the laboratory and few have attempted to develop robots in practical environments. We propose a practical, dust- and water-proof snake-like robot and its prototype. We start by discussing the practical functions required and the mechanism developed. We then discuss joint control and an experiment testing the prototype.
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