Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 06, 2021 - June 08, 2021
The volcano exploration mobile robot using a phenomenon of rolling down on slopes was developed in our previous study. However, the robot had a problem that it cannot stop on slopes. In this study, to realize a roll-down mobile robot that can stop on slopes, the roll-down locomotion and stop mechanism using transformation by air pressure of the body is proposed. A prototype of a roll-down robot with the mechanism was developed and experiments were conducted to verify the validity of the proposed method. As a result, the robot was able to stop on a slope by exhausting the air inside the robot body and transforming the shape. This paper describes the concept of the roll-down locomotion and stop mechanism, the developed prototype, and the experiments using the robot.
