2A2-L14 軟弱かつ急斜面の不整地走行を目的とした単純脚・クローラハイブリット型移動ロボットの開発(特殊移動ロボット)

概要

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In extreme environments, such as lunar surface or volcanic area in the earth, exploration by mobile robots instead of human is considered of value from the point of view of safety. However, such a natural environment is uneven, and usually, it is covered with rocks and/or loose soil. Thus, the mobile robot is required to obtain a high traversability. So, we have been developing a mobile robot that equips both a simple leg motion and tracked locomotion to traverse weak and rocky surfaces. To evaluate its performance, in this research, we conduct a stability analysis of the mechanism. In this paper, we introduce the mechanism of our developing mobile robot, explain a robot, and discuss the stability analysis.
一般社団法人日本機械学会の論文
2011-05-26