球状外殻を有する小型連結群ロボット

抄録

In order to enable adaptive mobility in debris-strewn environments such as disaster sites, swarm mobile robots with the ability to connect and separate multiple units. In this study, a unit with spherical outer shells is proposed. To reduce the size and lower the position of COG of the vehicle, actuators, a small coupler, a small microcomputer, and an auxiliary wheel are placed using internal gears inside the spherical outer shell. To shorten the fabrication time and facilitate mass production of the vehicle, the mechanical design and manufacturing presupposes the use of 3D printers. In addition, wireless control system for multiple units are developed. The performance of the developed vehicle is experimented by connecting/separating, running in a ditch, running over steps, and running in a narrow space.