Pipeline For the Modeling of Soft Snake Robots Considering Complex Friction Information

• Item type: National Convention(1)
• 公開日: 2024-03-01
• タイトル: Pipeline For the Modeling of Soft Snake Robots Considering Complex Friction Information
• 言語: eng
• キーワード / 主題Scheme: Other
• キーワード / 主題: ネットワーク
• 資源タイプ / 資源タイプ識別子: http://purl.org/coar/resource_type/c_5794
• 資源タイプ: conference paper
• 著者所属: 東大
• 著者所属: 東大
• 著者所属: 東大
• 著者所属: 東大
• 著者名: 夏, 遠輝; デゥックトゥン, タ; 亀﨑, 允啓; 川原, 圭博
• 論文抄録 / 内容記述タイプ: Other
• 論文抄録 / 内容記述: Snake-like soft robots are highly adaptable to different kinds of environments with flexibility. A well-studied and feasible locomotion pattern for snake robots is the crawling locomotion with the anisotropic friction properties of their contact surface. However, due to their frequently changing shapes, the design of the gaits for snake robots is often intuitive and normally derived from either trial and error and simplification of physical structures, making it hard to find an automatically control policy. We propose a modeling pipeline based on a framework for the simulation of soft robots, SoMo, which defines the snake body as a concatenation of links connected with joints, allowing users to adjust parameters such as physical properties of joints and frictional properties. This research also lays the foundation of future development of the control system.
• 書誌レコードID / 収録物識別子タイプ: NCID
• 書誌レコードID / 収録物識別子: AN00349328
• 書誌情報: 第86回全国大会講演論文集; 巻 2024, 号 1, p. 419-420, 発行日 2024-03-01
• 出版者 / 言語: ja
• 出版者: 情報処理学会