抄録
To survey narrow places where humans can't access like disaster area, tethered teleoperated robots are often used because wireless operations are not available in such limited spaces. A problem of tethered robots is tangling with obstacles which makes it difficult for the robots to move. This research proposes the tether handling mechanism that solve tangles. The devices are attached to the tether and move the tether to solve tangles. The proposed mechanism has two locomotive functions; longitudinal movement to move the robot along the cable and lateral movement to carry the cable aside for solving the tangles. Two prototypes for the lateral movement were developed and compared. Both of them succeeded in carrying cables. The experimental results shows the advantages and disadvantages of each prototype and suggests guidelines for further improvements.
