抄録
Fukushima daiichi nuclear power station are contaminated with high levels of radioactivity. Robot performing decontamination activity is necessary because human can not go in the building. When performing the decontamination activities, it is necessary to prevent diffusion of contaminants and get over the step in the building. To solve this problem, We made a robot named "SHAR" which is able to do decontamination activities. This robot was using 8 mecanum wheels that was cut in half. As a result, it is possible to overcome the steps of 100 [mm] in the forward and backward direction, and 50 [mm] in the sideways direction.
