6脚クローラロボットの路面形状検出によるハイブリッド超壕と段差移動

抄録

Hexapod tracked mobile robot we have developed can perform various movements with handling tasks on rough terrain by both track driving and leg control. For example, robot can travel wide gap and high step using leg supporting. In this paper, we describe a method for detecting gap width and step height. They are calculated using 2-D points of environment detected by distance sensor measurement and sensor angles. This study also describe the hybrid motion in stepped gap. Experimental result confirmed the effectiveness of the proposed method by the robot.