脚車輪型ロボットの受動車輪を利用した歩行パターンの作成

抄録

Rescue robots at disaster sites are highly anticipated because they can operate in dangerous areas that are inaccessible to humans. At disaster sites, it is required to find victims as soon as possible due to the risk of secondary disasters. For that reason, rescue robots are required to reach their destinations as quickly as possible. In this study, we focused on a leg-wheel-type robot that has the advantages of both the high traveling performance like a leg-type robot and the high traveling speed like a wheel-type robot. We developed a leg-wheeled robot with passive wheels on its legs and a roller-skate-like shape to improve its traveling efficiency. Using that robot, we studied walking patterns using different passive wheels depending on the surface shape of the leg-wheeled robot with passive wheels and proposed two methods of moving: "leg-type walking" and "wheel-type walking," in which the robot moves on each surface while controlling the passive wheels with leg movements.