抄録
Offer Organization: Japan Society for the Promotion of Science, System Name: Grants-in-Aid for Scientific Research Grant-in-Aid for Young Scientists (B), Category: Grant-in-Aid for Young Scientists (B), Fund Type: -, Overall Grant Amount: - (direct: 3000000, indirect: 900000)
In this study, to propose a control method moving on uneven terrain for a snake robot, we consider following four main topics. (1) Obstacle avoidance of whole body of a snake robot through a multiple obstacle environment. (2) Trajectory tracking on curved surface and multiple planes. (3) Terrain following method by using the robot's own weight on uneven terrain. (4) As application (1)-(3), cleaning control of an articulated cleaning robot on a narrow path and a step and stair climbing control of an articulated mobile robot.