マルチコプタ型急斜面移動ロボットの姿勢制御

抄録

Mechanization and automation of labor works on steep slope are required to reduce its burden. Previous studies use designed wheels and continuous tracks with large a coefficient of friction to improve mobility of robots on steep slope. However, friction force decreases, and attitude of robot becomes unstable when incline of slope angle increases. Not only enlarging a coefficient of friction but also another approach is necessary to realize stable attitude of robot on steep slope like mountainous areas. Therefore, we propose a multi-copter type mobile robot. The robot can keep stable attitude on a steep slope with large friction force because the thrust force from the multi-copter pushes a robot body against the ground surface. In this paper, we simulated multi-copter type mobile robot’s behavior on steep slope by using physics engine to evaluate proposed methods.