螺旋機構と展開脚機構を組み合わせた湿原移動ロボットの開発

―前進移動の動作手順と動力学シミュレーション―

抄録

Currently, the reduction of wetland area has become an important problem in Japan. However, it takes a lot of effort to conduct a human survey. Therefore, in order to improve the efficiency of survey activities of the wetland, a wetland mobile robot that moves without damaging plants as much as possible has been proposed. In this research, we proposed a wetland mobile robot that combines a spiral mechanism and a deployment leg mechanism. The machine design and control method will be examined using the model built in the dynamics simulator. The operation of each mechanism and the entire robot will be verified.