抄録
This paper proposes a inchworm type robot with crawler for rescuing under destroyed constructions. The previous report shows the method of climbing up stairs using the 5-link type robot. Unfortunately, this robot is able to move only straight. For practical use, mobile robots have to change its moving direction. This paper develped a 3rd version of the inchworm robot which has crawlers for three links, a rotational joint for changing of the lateral direction, and the control syatem with dual CPUs. In order to estimate the ability of this robot, the kinematical analysis and the development of the control program are executed. As a result, the effectiveness of this robot is confirmed by the experiment.
