抄録
We have developed a tracked mobile robot which attaches four legs at the corners of robot's body. This mechanism enables the robot to move on rough terrain robustly. In addition, the robot is able to perform handling tasks such as carrying an object and removing small obstacles with its track movement by using the legs as manipulation arms. This paper considers retrieving motion of a target object under a big board as a work by a leg-track hybrid motion of the robot. Statics in the motion was analyzed by simulation. The result of experiment by developed robot continued that the robot was able to achieve the motion.
