極限環境下で作業可能な災害対応ロボットの開発

（第５報：４肢ロボットの匍匐移動における進行方向制御）

抄録

This paper presents a crawling direction control for four-limbed robot on rough terrain. Crawling is useful from the viewpoint of making the height of center of mass of a robot low, which reduces an impact to be applied to the robot and the possibility of making the robot broken. However, the robot crawling direction has the possibility of changing due to the collapse of the surface of rough terrain. The crawling direction control aims to correcting the robot crawling direction so that it can make an error in the direction to target position small. In a simulation, we confirmed that the crawling direction control contributed to changing traveling direction on flat ground.