科研之友
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摘要
In this paper, we consider "sinus-lifting motion" of a living snake, in which a snake lifts up some parts of its body from the ground, and switches the lifted parts dynamically. It is not clear whether imitating the sinus-lifting motion is the best locomotion or not for a snake like robot. The aim of this paper is to propose an appropriate motion pattern to a snake like robot considering the optimality of the sinus-lifting motion. We introduce two physical parameters, constraint forces and energy efficiency, as cost functions to optimize and propose switching strategies for generating optimal motion patterns of a snake like robot. Note to Practitioners-The biologically inspired robots have been researched and developed intensely. Many researchers expect that the locomotion of living things has high locomotion performance in the natural world, because they have survived by natural selection. However, when we consider the effectiveness of imitating the biological locomotion, it is important that we clarify not only the kinematical and dynamical features of the locomotion but also the principle of the locomotion, which means the reason why a living thing achieved the locomotion. We expect that the knowledge regarding the principle of the locomotion suggests a more effective motion pattern which is specific to mechanical robots. In this study, we focus on the creeping locomotion of a living snake. Practically the great ability of movement of a living snake is useful, for example, search and rescue missions at disaster sites, so snake-like robots have been developed. Based on the hybrid model, we discuss the optimal locomotion of the snake robot with comparing locomotion of a living snake.
- 出版日期2014-1
