ホイールベース可変機構を搭載した軟弱地盤移動用ローバに関する研究

抄録

Planetary rovers are required a high performance to traverse rough terrain like loose soil with steeps. Our proposed robot has high mobility performance, especially; it can traverse loose soil with steep slopes. The proposed rover has a wheelbase variable. If a wheel sinks into soil, the wheelbase of the rover changes. When the wheelbase is changed, this rover can move because of the residence given from the sinking behavior becomes supporting force. This paper reports the experimental results.