抄録
In recent years most of rescue support robots perform aboveground in searching and rescuing. However, it is difficult to discover rescuers at under rubble or ground from aboveground. The aim of this research is to develop the digging type underground exploration robot. This robot has two rotation joint in the arms and can move ahead in the ground using this arms like a mole. So this robot can access a rescuer from underground in disaster site. But a motor torque for this robot did not become clear at first. For that reason, we made simulated underground for experiment environment and identified the necessary torque for digging experimentally.
