Abstract
Autonomous mobility robots are required a high performance to traverse rough terrain like loose soil with steeps. Our proposed robot, "LOROPII" has high mobility performance, especially, it can traverse loose soil with steep slopes. LOROPII can support on surface of loose soil with steep slope because of it has "piles" which are inserted into the soil. In this study, we research the optimal piles, for instance, the optimal diameter and the optimal penetrated length. We will furthermore carry out running experiments using slope actually, 20, 25, 30deg. From these results, we discuss the optimal pile and problems.
