複数のラグ長可変型移動ロボットを用いたフォーメーション制御

抄録

In recent years, exploration system using robots on planets, such as moon and Mars, has gained a lot of attention from researchers. In order to realize more efficient exploration, our laboratory proposed a Leader-Follower system with multiple mobile robots. In this article, we develop a mobile robot with variable lug length mechanism as a follower robot. This robot can steer by using brake force and resistance force occurred between the lug and the ground. We conduct experiments on rigid ground and soft ground using the developed robots, and illastrate the validity of the proposed robots.