Abstract
This paper addresses transfer robots on a double spiral propulsion mechanism. Some groups of conservation of nature have surveyed wetlands as a part of preserving activity. But there is a demand of development of robots which support the investigation, because it is difficult to move in wetlands due to mud and dense weeds. The double spiral propulsion mechanism has been proposed for support in wetland investigation. A robot moves on the double spiral propulsion mechanism. This robot consists of movement mechanism on supporting legs and feet. This research considers a transfer robot is equipped with six supporting legs, and the dynamical stability analysis using the ZMP.
