災害救助用UGV用空気レス可変剛性車輪の走行性能に関する研究

抄録

Rescue robots are becoming more and more important because there are a lot of natural disasters in Japan. In order to enable rapid rescue operations, it’s necessary to introduce 4-Wheel UGV on disaster area. Since there are some problems with conventional wheels, it’s necessary to develop special wheels which can adapt rigid ground and loose ground such environments of disaster area. In this study, the Airless variable-rigidity wheels using Sickle-shaped linear mechanism is proposed. Then, the effectiveness of the wheels on driving course that combines different road surfaces was verified. From experimental results, it has been indicated that the running performance was improved by changing of the wheels’ rigidity while driving.