A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1
Saori Sugita*, Kazunori Ogami**, Guarnieri Michele*,
Shigeo Hirose*, and Kensuke Takita***
*Department of Mechanical & Aerospace Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan
**Canon Inc. Robot Development Propulsion Project, 70-1 Yanagi-cho, Saiwai-ku, Kawasaki-shi, Kanagawa 212-8602, Japan
***HiBot Corporation, 201 University Corporate Relations Bldg., 2-10-1 Kamata, Ota-ku, Tokyo 144-0052, Japan
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.
Shigeo Hirose, and Kensuke Takita, “A Study on the Mechanism and Locomotion Strategy for New Snake-Like Robot Active Cord Mechanism – Slime model 1 ACM-S1,” J. Robot. Mechatron., Vol.20, No.2, pp. 302-310, 2008.
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