抄録
The robot vehicle with Variably Con figured Segmented Wheels (VCSWs) has been developed for water disaster. This vehicle travels both on rough terrain and on water. The suspension mechanism is applied to each wheel. The wire drive and control system is applied and tested to a vane control mechanism which built in a VCSW in order to adjust the cyclic vane motion. The experimental data of suspended VCSW unit shows that the precise control is possible. The angle error of vane control axis is less than several degrees.
