Abstract
A tracked vehicle with sub-tracks has high mobility on rough terrain. In this research, the authors have developed a tracked mobile robot which consists of two main-tracks and six sub-tracks in order to improve the mobility. In addition to four sub-tracks which are equipped at each end of main-tracks, this robot has two sub-tracks at the tips of front sub-tracks. This mechanism enables the robot to drive stably on rugged ground. This paper describes mechanisms of the robot and analyzes its step-climbing ability.
