TRCにおける細径索状ロボットの移動・探索技術課題解決 (第5報)

―側面近接覚環境検知およびそのタフな測距・通信系構築―

抄録

Technology challenges of mobility and search ability of the fine-diameter cord-like robots for disaster response are raised and open for further research and development in TRC Program. A Leading Active Mechanism, consisting of a crawler-driven Active Segment and a Multimodal Search Sensor Unit, has been developed and added to the robot platform for solution to the technology challenges and enlargement of the robot capabilities as well. Capability of environmental detection in lateral-side direction based on proximity sensing, further plugged to the robot as complement to the forehead image sensing ability, is depicted in this report. Results of development of its tough ranging and communication system are described as well.