任意環境を移動可能な自律分散システム

抄録

Aiming at high stability for off-road transportation, our final goal is to develop an autonomous distributed mobile robotic system for various environments. In this study, we examine the system performance on cylindrical surface with zero Gaussian curvature as the first step of our work. The proposed mobile system consists of the homogeneous multiple units with a micro computer. The mechanical structure of the unit is designed based on the DELTA mechanism and provides the system with the function of legged movement. The operation of every unit would be synchronized over the simple serial communication channels among them. A series of experiments justified the feasibility of the developed system with two types of the gaits proposed.