抄録
In this study, characteristics of the shoveling motion are verified and the effectiveness of new methods of steering for the burrowing inspector are verified, which aims to move into the soil on its own and locate survivors more efficiently. The burrowing inspector is useful at landslide disaster sites, which occur after earthquakes, heavy rain, and accidents. The proposed propulsion method is inspired from the movement of a mole, which advances efficiently by pushing aside the soil with the shoveling motion. However, previous steering method was not efficient in some cases, and it was designed for 2-dimensional steering only. To solve these problems, a new method of steering is proposed, and a method of 3-dimensional steering is also proposed, which makes it possible to steer without using an additional pneumatic motor. A new developed prototype realizes these methods, and the effectiveness of the propulsion, 2-dimensional steering and 3-dimentional steering are verified through experiments. Moreover, the optimized motions of the prototype for propulsion and steering are verified through experiments.
