2A1-C08 ロッカー機構を有する六輪移動ロボットの開発と走行・姿勢制御(車輪移動ロボット・メカトロニクス)

概要

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In our research group, the project, riarried "networked robotic system for disaster mitigation", has been carried out. In the project, multiple robots are coordinately operated via wireless communication network. The robot system consists of a large-mobile-robot and small-mobile-robots. The small robots are aimed to be conveyed by the large robot and to be distributed inside collapsed buildings. Therefore, the large robot should surmount some debris and bumpy terrain to approach the target buildings. To enable such motion, it has six wheels to form into rocker structure. In this research. we aim to propose a suitable remote control method for navigation of the large robot. Our developing "robot-dynamics simulator" is used to discuss a performance of the robot's control.
一般社団法人日本機械学会の論文
2007-05-11