廃炉創造ロボコンにおける核燃料デブリ取出しロボットの製作

抄録

In this paper, we describe a fuel debris picking-up mobile robot for the Creative Robot Contest for Decommissioning. Our robot has an extendable telescopic arm with gripper utilizing the convex rule, and has 2 crawlers. In addition, it has an omnidirectional camera equipped on robot ’s body and a micro USB camera. The former is for surrounding view, and the latter is for forward view. Our robot is remote-controlled through wired Ethernet by utilizing ROS system. In the contest, our robot could not achieve all competition task. However, it had shown the ability to extend its arm to the bottom of the pedestal to confirm the existence of simulated debris, and return to base safely within the time limit.