車輪とクローラを同一のモータにより駆動しフリッパーアームを有する車両の開発

抄録

Vehicle-type robots used in urban areas and public facilities, such as for delivery work, disaster exploration, and firefighting, require the ability to climb steps and high travel speed on flat terrain. We developed a vehicle that combines these advantages by combining normal wheels, Omni wheels, crawlers, and flipper arms and conducted driving and step-climbing tests. Furthermore, we derived the necessary friction coefficients for stepping over steps higher than the wheel axle position using statics, showing the effect of the flipper arm.