階段昇降可能な車輪型索状ロボットの開発

抄録

This paper presents a wheeled snake-like robot for urban search-and-rescue and plant inspection. The robot has active wheeled links connected by active joints, and is designed to move on various terrains, e.g., plane, stairs, and narrow paths. Moreover, the robot has net-structure proximity sensors on the bottom of the body to measure the distance and inclination angle between the robot and surrounding plane. The experimental results demonstrate that the robot can pass through a narrow path and enter a narrow pipe, and it has an excellent mobility such as climbing a high step and steep stairs by using sensor information.