著者

楠 仁宏 嵯峨 宣彦 永瀬 純也 佐藤 俊之

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集 2014 (ISSN:24243124)

巻号頁・発行日

pp._2A1-K03_1-_2A1-K03_3, 2014-05-24 (Released:2017-06-19)

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In recent years, in consideration for danger of secondary disaster at disaster areas, development of rescue robots has been expected. We have paid attention to the mechanism of the peristalsis performed by earthworms and developed a robot using the mechanism. In this research, we developed a robot which recreates the motion of the muscles of earthworms using two kinds of actuators. The feature of this mechanism is that the robot is always able to move a fixed distance even if the space is narrow. In this paper, we propose the mechanism of the robot and consider the three moving patterns of the robot.