抄録
It is necessary that the robot for the uneven terrain should move from on the relatively hard road such as the stone or the gravel to on the sand or the lunar regolith. And the ability of going up the slope of 25 degrees is needed. In this research e popose the riceball type crawlers as the movement mechanism of the robot moving on the uneven terrain. The riceball crawlers have the structure of preventing belt-separation and attachment of sand or stone. And also it is possible to cross over the stones or bumps by setting in motion of the entire crawlers. In this research we take up the principle of the movement mechanism and the construction of the trial moving robot and we show some experiment results of the operation verification on the uneven terrain.
