로봇학회논문지 제14권 제3호(통권 제53호) (p.196-202)

뱀의 구동원리를 이용한 4족보행 로봇의 개발

Development of Quadrupedal Robot Mimicking the Motion of Snake
키워드 :
Snake Robot,Quadruped Walking Robot,Hyper-Redundant Robot,Side Wind Motion,Sinus Lifting Motion

목차

Abstract
1. 서 론
2. 이론적 분석
   2.1 기구학적 분석
   2.2 뱀의 움직임 분석
   2.3 시뮬레이션
3. 로봇의 설계 및 제작
   3.1 뱀로봇의 피부구조
   3.2 뱀 로봇의 구동모듈
   3.3 Quadnake
4. 실 험
   4.1 피부 구조의 마찰특성
   4.2 뱀형 구동의 기초실험
   4.3 Quadnake
5. 고 찰
6. 결 론
References

초록

Snake robots are slower than wheeled robots or legged robots, while they have an excellent terrainability in a disastrous area. Considering their advantages and disadvantages, a legged robot whose legs are snake robots, ‘Quadnake’ was proposed in this research. Five motions of the snake were analyzed. Applying these motions, Quadnake could implement eight kinds of motions which snake robots and quadruped walking robots can implement. As a result of it, Quadnake can have the advantages of both a snake robot and a walking robot. It is expected to move stably in a harsh terrain with snake’s motion and move fast with walking.