小型移動ロボットの切り掛け車輪形状に関する検討

抄録

The locomotion ability of climbing steps and slopes are required for tiny mobile robot to move on rough terrain such as forest or river side area. A lot of studies proposed the specially shaped wheels to use in particular environment, but these mechanism is not clear to understand the ability of climbing steps and slopes. In this study, we proposed a notched wheel that has both high climbing abilities of steps and slopes and easily calculate its ability. We show some model of a notched wheel and describe its detail mechanism. In this paper, we also show some experimental results of mobile robot that have four notched wheels. This study is significant not only because it fills gaps in previous research, but also because it is useful to design the specially shaped wheels.