Abstract
Propulsion method utilized the anisotropic friction property of wheels is called gliding locomotion. Gliding locomotion has not been applied to uneven terrain yet. The objective of this research is to apply the gliding locomotion to uneven terrain by Twin-Frame structure robot, consisting of two frames and actuators connecting and driving both frames. This paper clarifies relationship between a wheel path and mobility on plane. We have developed a gliding locomotion robot named "Para-Glider". Para-Glider has 3-DOF parallel linkage mechanism and is able to control a wheel position and angle. We confirmed the gliding locomotion by experiments using the developed robot.
