極限環境下で作業可能な災害対応ロボットの開発

（第４報：４肢ロボットの匍匐移動法の提案）

抄録

This paper proposes a novel locomotion style to move on rubble with the possibility of collapse for a life-sized four-limbed robot. A locomotion style which can increase normalized energy (NE) stability margin seems to be useful to move in extreme environments. Therefore, we propose crawling motion, which makes robot’s body contact on the ground. The robot moves four end-effectors forward simultaneously, lifts the body and moves forward. Verification of the proposed crawling motion is conducted through simulations with a dynamics simulator on rubble.