多関節型移動ロボットによる狭路内障害の踏破に関する研究

抄録

In this study, an articulated mobile robot was developed for inspecting the inside of the chemical plants or the nuclear power plants. Although, it consisted of only six segments connected by five pitch joints, it was able to climb over the obstacles such as the stairs and the large block. It was also able to climb up a vertical narrow passage such as ducts and pipes, but it must continue to press both walls by making at least one triangle with two links. Because the robot supported itself using at least two links, it was limited the degree of freedom to move. This paper deals with mobility of this robot against some obstacles in the narrow passage such as projections, corners and steps. We proposed overstriding methods and analyze the maximum size of these obstacles that the robot was able to overstride.