2A1-E25 軟弱地盤及び不整地走行を目的とした小型の脚・クローラハイブリット機構の開発

概要

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Track mechanism has high movability on irregular terrains. Therefore, it is typically used for locomotion mechanism of all-terrain robots. However, the track mechanism sometimes slips while it traverses on loose slopes. Therefore, we developed a new locomotion mechanism, called "Surface-contact-type locomotion", which has high movability on weak soils. It uses simple leg mechanism that has wide contact area with the ground in order not to corrupt the contact surface. However, it has a disadvantage of low movability on irregular terrains. To solve the above trade-off, we developed "Leg-Track Hybrid Robot" by fusing the both locomotion mechanisms. In this paper, we explain details of the developed locomotion mechanism and report some initial experiments.
一般社団法人日本機械学会の論文