Abstract
Methods to realize volcano observation safely include the land observation with the terrain mobile robot. The principal objective is often put in running the whole course of the irregularity ground, and the terrain mobile robot which has been developed cannot support mud of the leveling of ground and the ground by the bad weather enough until now. Therefore I developed with the wheel which can change into the mode of three such as the breadth wheel with a shape at the time of rag wheel, weak ground at the time of circular wheel, irregularity ground at the age of the leveling of ground. Volume of deformation of wheel diameter and the width doubled 1.5 times, 2.8 each and showed that it was effective.
