対地適応クローラロボットの不整地走破時におけるサブクローラ回転軸コンプライアンスに関する考察

抄録

It is well known that the terrain adaptive crawler robot (Crawler Robot with Sub-Crawlers) has a high-performance rough terrain traversability, however, there are not many discussions about the optimum conditions. An aim in a study is the proposal of the evaluation index for the terrain adaptability of the terrain adaptive crawler robot. This paper discussed the factors of terrain adaptability. Based on these knowledge, this paper describes about formulation of the sub-crawlers dynamics of the terrain adaptable crawler robot with the compliance control system, and the estimation of the contact force between a sub-crawler and a obstacle obtained based on the balance of the moment between the sub-crawler and the obstacle at the contact point. The effect of compliance was considered through the results of the experimentation and simulation with the proposed control system when contacting an obstacle. It was indicated that the compliance of the sub-crawlers dynamics evaluation was one of factor for terrain adaptability.