1P1-K01 火山環境走行用ロボットの開発とモーションシミュレーション(車輪型/クローラ型移動ロボット)

概要

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In case of volcanic explosion, observation of its activity is very important to reduce second disasters. However, it is forbidden for human to approach an active volcanic area. Therefore, a visual observation by tele-operated mobile robots is one possibility instead of human. One key technology to realize the above observation is traversability on volcanic rough and weak terrains for mobile robots. However, no mobile robot have succeeded in traversing such challenging environments completely. So, in this research, we developed a small-sized robot to handle rough terrains, particularly, for volcanic environment. The robot has 11 D.O.F. actuators, and it is very important to use them appropriatel for traversing rough terrains. Therefore, we developed a motion simulator for the robot to plan and to confirm its motion. In this paper, we introduce the mechanism of the robot and report the result of simulation of the robot.
一般社団法人日本機械学会の論文
2011-05-26