６脚クローラ型不整地移動ロボットの開発と溝乗り越え運搬

抄録

We have developed a tracked mobile robot which is equipped with six legs attached to the robot's body. This mechanism enables the robot to move on rough terrain robustly and perform handling tasks such as carrying an object and removing small obstacles with its track movement by using the legs as manipulation arms. In addition, this robot can perform leg-track hybrid locomotion in a task for work such as carrying an object. This paper describes development of a hexapod tracked mobile robot and its locomotion to traverse a wide gap with carrying an object as a leg-track hybrid motion.