抄録
This paper describes about variable angle restriction mechanism for the crawler robot with passive sub-crawler. Most crawler type robots for search and rescue have been adopted the active sub-crawler in order to traverse the rough terrain. However, the mobility of the robot depend on the skill of an operator due to the complicated operation. This study propose the crawler type robot with the passive sub-crawler. The angle of the passive sub-crawler must be restricted depending on road-surface condition. Experimentation results for the simple step and stair traverse demonstrated the efectiveness of the proposed variable angle restriction mechanism.
