油圧アクチュエータを搭載したレスキューロボットの開発

―実機・制御システムの開発―

抄録

This paper describes a rescue robot equipped with hydraulic actuators and the wheel mechanism with having variable air compressing function. The developing robot is driven by using two traveling units equipped with eight wheels withthe wheel mechanism with having variable air compressing function. By tilting the traveling unit with a hydraulic actuator, the robot can overcome obstacles. The rescue robot can easily travel on uneven terrain by reducing the air pressure in the variable pressure tires. Because reducing the air pressure in tires increases the area of contact to the ground surface. It also describes the control system for the entire robot.