抄録
In the case of disaster, disaster response robots are required for searching victims on dangerous place. Realization of the high traversability for robot on the rough terrain have been studied. As widely known, the crawler robots with active sub-crawlers have the high traversability to get over on rough terrain. In the present circumstances, it is hard for the operator to control its active sub-crawlers in remote control. From a viewpoint of the compliance control, this paper describes about the modeling and the controller design for the dynamics of a sub-crawler in order to achieve simply the semi-autonomous control.
