2A2-L14 Development of a Leg-Track Hybrid Mobile Robot to traverse on weak and steep slopes(Mobile Robot with Special Mechanism)

Abstract

In extreme environments, such as lunar surface or volcanic area in the earth, exploration by mobile robots instead of human is considered of value from the point of view of safety. However, such a natural environment is uneven, and usually, it is covered with rocks and/or loose soil. Thus, the mobile robot is required to obtain a high traversability. So, we have been developing a mobile robot that equips both a simple leg motion and tracked locomotion to traverse weak and rocky surfaces. To evaluate its performance, in this research, we conduct a stability analysis of the mechanism. In this paper, we introduce the mechanism of our developing mobile robot, explain a robot, and discuss the stability analysis.