浮力と推進力により氷雪環境での安定移動を実現する機構

―両谷型車輪と変位軸スクリュー―

抄録

Currently, there is a wide range of developments in the area of robot mobility. In the disaster areas, where it is difficult for humans to walk, and especially in not flat place, various methods and experiments have been studied from various viewpoints. On the other hand, there are relatively few studies on the snow environment, where mobile mechanisms may easily get stuck by snow damage. The purpose of this research is to develop mechanisms for a snow mobile robot that can move stably for investigation and carrying of emergency supply at the place suffering for snow damage. This study focuses on the development of artificial wheels which give both buoyancy and propulsion force against snow. Also, this study analyzes physical characteristics required for experiments in snow environments and proposes artificial pseudo-snow field for in-door experiments.