2P2-D24 多様な形態変化機能を持つ高機動車輪型ロボットHANZOの操縦と制御

概要

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Wheeled robots have high-speed efficiency over flat floors that no other mobile robots could achieve. However, when it encounters complex environment that requires conquering of high obstacles, tracked/legged robots are proven to be more efficient. The purpose of this research aims at developing a simple structure wheeled robot, and with integration of efficient control algorithm to conquer complex environments where most wheeled robots could not achieve. In order to possess high mobility even in complex environments, but also remain fast traveling speed on flat-floors, a variable-structure wheeled robot is proposed. The current robot composes of three connected units : Main Body Unit and Left/Right WheelArm Units. With these units, the robot could transform its structure to achieve five locomotion modes.
一般社団法人日本機械学会の論文