1A1-C07 瓦礫上に於ける装軌式重機の駆動モデルに関する研究

概要

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It is important to remove rubble quickly when a disaster occurs. They say it is effectual to use hevay equipments but it is too risky to use them for rescue. So a new rescue system using a power shovel is proposed in our laboratory. The system is supposed to follow a operator automatically. Hence some control laws to accomplish it are investigated but it is necessary to know the behavior of the machines on rubble. So we advance a crawler model for a driving heavy equipment on rubble in this thesis. We also report the conclusion of the simulation of the model.