極限環境下で作業可能な災害対応ロボットの開発

（第２１報：４肢ロボットの腹ばい運動の全方向移動制御）

抄録

In this paper, we propose a method of crawling motion for moving in all direction and a method of generating a crawling motion up to a target point for four-limbed robot. In a crawling motion, a legged robot alternately contacts its feet and torso with the ground and changes the position and orientation of feet and torso during their swing phase. The movement length and rotation angle of its feet and body are determined based on the position and orientation of the robot in the target position and the current position. Evaluation experiment confirmed that it is possible to move to the target point by proposed method with switching translation and rotation.