抄録
The firefighting robot using variably configured crawler vehicle has been developed successfully. The firefighting activities from outside of horses are strictly restricted by walls. The water flow throw a window reaches only a small portion of firing area. If the firefighting robot intrude into the horse, the dead angle firing zone should be almost diminished. A variably configured crawler vehicle is applied to surmount the barrier of intruding root. The water reaching distance can be controlled by the water flow speed and inclination main arm angle has been clarified and verified by some experiment.
