Abstract
Small rescue robots that can do rescue operations and collect the information in a tight space are needed at a disaster site. But rescue robots tend to increase in size because a large size robot can easily climb up a step. In order to solve the tradeoff between miniaturization and step climbing ability, we think that step climbing ability of small robots will be improved by using double multiple DOFs arms. In this study, a robot with multiple DOFs arms is developed and software to climb up a step automatically is developed. A performance of the developed robot was confirmed by experiments and the efficacy of the proposed structure was verified comparing with existing robots. Moreover, the efficacy of the automatic climbing up control is verified comparing with the manual control.
