Abstract
The necessary performances for exploration are not only the traversability on rough terrain, but also the ability for getting through narrow space and climbing over large objects. In this point of view, the active wheeled snake-like robot is to be effective. However, prior types have some disadvantages in stairs or doorknobs because of its shortage of trunk length and small of wheels. In this paper, we developed new snake-like robot "ACM-R8 ", which possess large and special wheels and long trunk to cover disadvantages in stairs and doorknobs, yet its height and width are smaller than other types of exploration robots. We confirmed its high traversability on stairs and high steps by motion experiment. Especially, the step height was 600mm, which is twice as high as the height of the ACM-R8.
