マイクロドローン搭載型小型クローラロボットに関する研究

抄録

We have been developing a compact crawler robot, named DIR-3, for infrastructure inspection and disaster survey. There has been an issue of higher place inspection by DIR-3 because the robot was designed to move on the ground. To solve the issue, we propose a novel microdrone-equipped crawler robot system to give DIR-3 a sensing function of higher places. In order to realize takeoff and landing by a drone from/to a small robot’s fixed position, we proposed a drone mooring system and developed a simple winding mechanism for winding the mooring wire from the crawler robot side with constant torque. In addition, we constructed a GUI system that can easily manipulate both microdrone and DIR-3 by switching control modes and receiving images of drone and DIR-3.