Biologically inspired robots : snake-like locomotors and manipulators

목차 (Table of Contents)

• CONTENTS
• NOMENCLATURE = xii
• 1 INTRODUCTION = 1
• 1.1 The snake as a biological machine = 1
• 1.2 Why do research on snakes? = 1
• 1.3 Significance in terms of engineering = 3
• 1.3.1 Engineering application of organisms' modes of locomotion = 3
• 1.3.2 Engineering application of organisms' modes of manipulation = 4
• 1.3.3 A flexible machine of the simplest and most basic shape = 4
• 1.4 Methods of biomechanical research = 5
• 1.5 An examination of the movement function of the ACM = 7
• 1.5.1 Characteristics of the ACM as a mobile body = 7
• 1.5.2 Prior research on snake movements = 9
• 1.5.3 Characteristics of the snake's modes of movement = 11
• 2 THE LOCOMOTIVE DYNAMICS OF THE ACTIVE CORD MECHANISM(CREEPING DYNAMICS) = 14
• 2.1 Introduction = 14
• 2.2 Parameters which control the movements of the ACM = 14
• 2.3 The fundamental kinematics of the Active Cord Mechanism = 15
• 2.3.1 Derivation of the fundamental wxpressions of tangential force = 16
• 2.3.2 Derivation of the fundamental wxpressions of normal force = 17
• 2.3.3 Derivation of the fundamental wxpressions of power = 18
• 3 THE MORPHOLOGY OF CREEPING MOVEMENTS = 20
• 3.1 Introduction = 20
• 3.2 Physiological considerations on the curves of crawling and gliding forms = 20
• 3.3 Formulation of the creeping-gliding curve = 24
• 3.3.1 Formulation for the clothoid curve = 24
• 3.3.2 Formulation for the serpenoid curve = 26
• 3.4 Testing and comparison with an observed gliding form = 27
• 3.5 Conclusions = 29
• 4 THE KINEMATICS OF REGULAR CREEPING MOTION = 31
• 4.1 Introduction = 31
• 4.2 Preparations for analysis = 31
• 4.3 Distribution of muscular force = 33
• 4.4 Forces generated in the trunk during regular creeping motion = 35
• 4.4.1 Propulsion = 35
• 4.4.2 Normal force = 36
• 4.4.3 Power = 37
• 4.4.4 Relationships between forces generated in the trunk andgliding efficiency = 38
• 4.5 Analysis based on a configuration approximating to the clothoid curve = 40
• 4.6 Experimental investigation of regular creeping motion in garter snakes = 42
• 4.6.1 Method = 42
• 4.6.2 EMG measurements = 43
• 4.6.3 Measurement of normal force = 44
• 4.6.4 Determining the coordinates of measurement points = 44
• 4.6.5 Results of the experiment = 44
• 4.7 Comparison and closer examination of experimental results and theory = 46
• 4.7.1 Estimate of muscular force distribution = 47
• 4.7.2 Closer examination of motive force = 48
• 4.8 Conclusions = 49
• 5 ADAPTIVE FUNCTIONS OF CREEPING MOTION = 51
• 5.1 Introduction = 51
• 5.2 Sinus-lifting = 52
• 5.3 The α-adaptive principle = 54
• 5.3.1 Derivation of the α-adaptive principle = 54
• 5.3.2 Derivation of the friction coefficient ratio M₁／$$M_n$$ = 55
• 5.3.3 Measuring the winding angle α in a snake moving on an inclinde surface = 58
• 5.3.4 Measurements and analysis relating to friction with the gliding surface = 59
• 5.3.5 Comparison and evaluation of theory and experimental results = 61
• 5.3.6 Analysis and comparisons based on an approximation to the clothoid curve = 64
• 5.3.7 The relationship between the α-adaptive principle and the sinus-lifting glide = 67
• 5.4 The l-adaptive principle = 67
• 5.4.1 Upper and lower limits of l = 68
• 5.4.2 Determining l on the basis of motor muscle characteristics = 68
• 5.4.3 Examination of snake gliding configuration when external temperature is altered = 70
• 5.4.4 Derivation of the l-adaptive principle = 72
• 5.5 Conclusions = 73
• 6 CREEPING MOTION IN ROUGH TERRAIN = 75
• 6.1 Introduction = 75
• 6.2 Definition of a 'maze' and setting of problems = 75
• 6.3 The dynamic characteristics of creeping motion within a maze = 76
• 6.4 Motive force and resistanceinside a maze = 77
• 6.5 Selection of a motion configuration dyanmically appropriate to movement within a maze = 80
• 6.6 Experiments with the snakes, and their evaluation = 81
• 6.7 Conclusions = 84
• 7 ARTIFICIAL CREEPING MOTION AS PERFORMED BY THE ACTIVE CORD MECHANISM = 85
• 7.1 Introduction = 85
• 7.2 Construction of a machine to perform artificial creeping motion = 86
• 7.3 Control mechanisms for creeping motion = 88
• 7.4 Directional control = 91
• 7.5 Design of the mechanism = 93
• 7.6 Design of the control system = 95
• 7.6.1 The 'central control system' = 96
• 7.6.2 Signal delay and transmission mechanism = 96
• 7.6.3 Individual joint servo systems = 97
• 7.7 Gliding characteristics of the prototype = 97
• 7.8 Test run and steering of the prototype = 99
• 8 THE LOCOMOTION AND CONTROL OF AN ACTIVE CORD MECHANISM WITH TACTILE SENSE = 100
• 8.1 Introduction = 100
• 8.2 Modes of control of an ACM with tactile sense = 100
• 8.2.1.Tactile-sense information processing with regard to the system of lateral inhibition = 101
• 8.2.2 Linear-form shift control of curvature signals = 104
• 8.3 The structure and tactile-sense information processing of a prototype machine possessing tactile sense = 105
• 8.4 Linear-form shift control of a prototype machine posessing tactile sense = 109
• 8.4.1 A linear-form shift circuit using a FET = 110
• 8.4.2 A reversed-function circuit = 111
• 8.4.3 A shift signal generation circuit = 113
• 8.5 Structure of the complete control system of the prototype machine = 115
• 8.5.1 The central section = 115
• 8.5.2 The nervous system = 115
• 8.5.3 The effector = 117
• 8.6 Control experiments using the prototype machine = 117
• 8.6.1 Experiment on coiling around an object = 118
• 8.6.2 Experiments on entry into a winding track and self-propulsion within a winding track = 119
• 8.6.3 Experiment on movement with pressure on a stake = 122
• 8.7 Conclusions = 123
• 9 DEVELOPMENT OF THE ACM AS A GRIPPER = 126
• 9.1 Introducing flexible grasp = 127
• 9.2 Dynamics of flexinble grasping = 128
• 9.3 Design of the soft gripper mechanism = 130
• 10 DEVELOPMENT OF THE ACM AS A MANIPULATOR = 137
• 10.1 Introduction = 137
• 10.2 Oblique rotation mechanism = 138
• 10.2.1 ACM mechanism for movement in space = 138
• 10.2.2 Introduction of the oblique rotation mechanism = 140
• 10.2.3 Positional control of the oblique rotation mechanism = 141
• 10.2.4 Control experiments using the prototype = 143
• 10.2.5 Practical applications of the oblique rotation mechanism = 144
• 10.3 The elastic-module tendon-driven arm = 147
• 10.3.1 Basic structure = 147
• 10.3.2 Design and construction of the elastic-module tendon-driven arm = 151
• 10.4 Coupled tendon-driven multi-joint manipulator = 154
• 10.4.1 Weight problems of the multi-joint manipulator = 155
• 10.4.2 The CT arm(coupled tendon-driven multi-joint manipulator) = 156
• 10.4.3 Analysis of the mechanism = 159
• 10.4.4 Control of the CT arm = 161
• 10.4.5 Construction of prototype CT arm l = 165
• 10.5 An active endoscope using shape-memory alloys = 167
• 10.5.1 Fundamental considerations = 167
• 10.5.2 Significance of the development of an active endoscope = 168
• 10.5.3 Structural design of the active endoscope = 170
• 10.5.4 Design of the control system = 173
• 10.5.5 Drive experiments = 174
• 10.6 Other Examples of ACM manipulators = 175
• 10.7 Control of the ACM manipulator = 179
• 10.7.1 Previous work on the control of manipulators with redundant degrees of freedom = 179
• 10.7.2 Proposal of redundancy decomposition control = 181
• 10.7.3 Computer simulation = 182
• 10.7.4 Moray drive = 182
• 11 DEVELOPMENT OF THE ACM AS A LOCOMOTIVE ENGINE = 187
• 11.1 Introduction = 187
• 11.2 A locomotive engine using the oblique rotation mechanism = 188
• 11.3 Koryu Ⅰ(KR-Ⅰ) = 189
• 11.3.1 Specifications for a robot to be used in danger zones = 189
• 11.3.2 Basic structure of koryu = 190
• 11.3.3 The prototype KR-I and trial operation = 191
• 11.4 Koryu Ⅱ(KR-Ⅱ) = 196
• 11.4.1 Modular construction = 197
• 11.4.2 Driving-train design = 197
• 11.4.3 Design of the z-axis actuator = 200
• 11.4.4 Design of the manipulator = 202
• 11.4.5 Basic running test = 202
• APPENDICES = 204
• A.1 Observations of gliding tracks = 204
• A.2 Anatomical configuration of the snake body = 206
• REFERENCES = 211
• INDEX = 217