抄録
This study discusses the development of robot for an assistance of disaster relief work. Our robot has a spherical shell for omnidirectional moving mechanism, and it is a double layer shell for water proof function. Drive mechanism installed in the inside of inner shell is composed by four drive units that combine a motor, a drive wheel and a friction wheel. This robot can move by friction between the inner shell and the drive wheel. Some flexible resistive elements attached on the outer periphery of outer shell can achieve amphibious mobility capability. Small camcorder and wireless devices are mounted on the inside of the inner shell. Remote control of robot is possible by this equipment. Some experimental result demonstrated the validity of amphibious mechanism of our robot.
