障害接触時に対するサブクローラ回転角のコンプライアンス制御

抄録

This paper described about the compliance control of sub-crawler rotation angle for crawler type response robot when the obstacle contact it. The previous study proposed the semiautonomous control for the response robot with active sub-crawlers based on the compliance control. When it compared sequence to climb the step of the crawler robots with passive subcrawlers with the crawler robots with active sub-crawlers, it was confirmed that properties of the compliance were different. The dynamics of the sub-crawler rotation angle was modeled both sub-crawler characteristics and experimentation performed to confirm the compliance characteristics about the sequence for the climbing the step in this paper.