Abstract
A mobile robot with brand new configuration, based on articulated body, is presented. The presented articulated body configuration can be considered as the basis of mobile robot, together with wheel, track and leg. The configuration is especially available for the mobile robot which have to move in narrow space and to carry heavy payload. The one third scale mechanical model KR-I, which consists of 6 segements, with 16 degrees of freedom 1391 mm in length and 27. 8 kg in weight is made. Specific characteristics of high adaptability to the irregular terrain and comparatively high speed mobility is experimentally demonstrated by the KR-I. Finally a basic consideration of the control of the articulated body mobile robot is done.
