Abstract
With the risk to be the non-leveling of ground environment where there is fear of an aftershock and the debris collapse, and to bring second damage to help worker. It is thought that an unmanned system playing an active part as a human substitute in such an environment is necessary. As for the robot moving such non-leveling of ground environment, a variety of forms such as a wheel type, a crawler type, a leg type are thought about, but it is particularly important to put a robot of the one in the minimum size and mass when it is aimed for intelligence. However, with downsizing, the ability to travel across the debris generally decreases. Therefore if I pay my attention to obstacles less than a wheel diameter, andit is passive in this, and there is a wheel climbed over, I can expect improvement of the movement efficiency, and it is thought that it is useful for course choice. It is passive and develops the passive transformation wheel that an obstacle is got over assuming two small rovers to use for the in telligence in the disaster spot in this study.
