偏心パドル機構を備えた全地形対応ロボットの開発

抄録

The eccentric paddle mechanism (ePaddle) based on the planet gear mechanism was designed for mobile robots to negotiate various amphibious terrains. This paper talks about the development of a ePaddle quadruped robot based on the ePaddle mechanism, which could be applied to rough terrain like stones, grass, slopes and soft granules. The control system will also be introduced. Experiments in both indoor and outdoor environment have been conducted to verify the proposed design. The results have proved the negotiability of the ePaddle robot in stones and sand, as well as the obstacle of wheel size and the slop of 30deg.