Abstract
This reserach is concerned with development of a rescue robot that search people buried in a debris when an earthquake happens. "Foot groping" is a key operation to walk continuously on rubble, which is shown in searching a stable ground. The purpose of this research is to clearly establish a relation between actuations and sensors by using an experimental robot RoQ that is mounted foot groping skill extracted by human. In this paper, we report a result of considering whether to rubble-walk safely for a legged robot.
