局所的な径可変機構を持つ車輪ロボットの開発

抄録

We have developed a wheel robot which locally transforms its diameter to improve mobility of a wheel on uneven terrain. Our wheel robot locomotes on a flat road with high mobility of a wheel and on rough terrains by changing its diameters. We developed a variable diameter wheel as a prototype of the wheel robot and investigated its availability. In this paper、the wheel robot did not have an axle motor, however the robot could locomote by utilizing expansion and contraction of diameters with moving a center of gravity. We tested its mobility through the two experiments.