Development of snake-like robot climbing up slope in consideration of constraint force

摘要

A snake-like robot is a robot imitating a real snake. A snake-like robot is developed in order to achieve excellent locomotion characterization of a real snake. It is necessary for a snake-like robot to move even in geographical features like a slope for adapting to various environment. The purpose of this study is the verification of slope climbing movement of the snake-like robot. In previous our study, a developed robot was affected seriously by cable tension. Hence, we have to realize wireless control of the snake-like robot for solving the problem. In this paper, we make a wireless system for transmitting the sensor information from the robot and commands from a computer. The wireless system behavior is verified by simulations.