Abstract
We have been researching on an information gathering robot. Before a rescue team enters to save the people who encountered the damage in a disaster and the terrorism spot safely, this robot searches for a safe course for the rescue team, dangerous equipments and the victim. We have been developing a small, light-weight and portable robot which can enter narrow space. This robot has Extendable Spiny Wheels of which diameter be able to change from 0.12[m] to 0.24[m] to adapt rough terrain. In this report, we describe an improvement of link mechanism of Extendable Spiny Wheels. By this improvement, the shape of the robot became smaller than old one. And diameter of the Spiny Wheels became to be able to change from 0.09[m] to 0.25[m].
