Abstract
Conventional crawler type the search and rescue robots have been adopted the active sub-crawler in order to adapt to the rough terrain by remote operation, however, the performance of the robot depend on the operator's skill. This study addressed the crawler robot that does not depend on the operator's skill by adopting the passive sub-crawler. The different constraint conditions for the angel of the passive sub-crawler exist for the state of terrain. The constraint conditions for the angel of the passive sub-crawler are considered by results of simulation with ODE in this paper. The adaptive method to rough terrain is proposed by controlling the angle of sub-crawler adopting variable angle constraint mechanism with wire. The experimental results indicated the effectiveness of the proposed method for the angle control of sub-crawler.
