自公転車輪と伸縮型車体を用いた段差・階段移動ロボットの開発

（機構設計と階段昇降実験）

抄録

In recent years, the barrier free concepts have been applied to more and more buildings and facilities. However, it is hard to completely implement the concept for existing ones. For most wheeled equipment and robots, a step and stairs are the difficult places. To solve this problem, we considered it was effective to develop the vehicle robot which can go up and down stairs by itself. Though legged robot is one of the best solutions, it requires powerful actuators and well thought mechanism. A crawler vehicle is also suitable, however, making crawler tracks is not so easy and skid motion may occur on contact planes. We propose new wheeled robot using revolving and rotating sub wheels and a telescopic body. In this paper, we will show the design requirement, mechanical designs and results of evaluation experiments.