非円形車輪を用いた不整地移動体の開発

―移動プラットフォームとしての8輪モデルの開発―

抄録

Robot using wheels with special shape have been studied as a kind of robot aiming to search rough terrain. Wheels with the special shapes can leach step by higher than the wheel radius by hooking on steps and irregularities. However, the robot using the wheels with the special shape has a problem that he vehicle body moves up and down while traveling on a flat road. The purpose of this research is to develop a robot that can run on irregular ground and can travel without moving the body up and down during running on flat ground using wheels with special shape. In this paper, we developed a new prototype that is more useful for exploring indoor environments more freely, and investigated its operation method and conducted operation experiments.