多重差動モジュールを用いた不整地移動ロボットの開発

―不整地移動ロボットの仕様と実現性の検討―

抄録

When considering a mobile robot that can move and work on uneven terrain such as farmland, the following three specifications are required to enable both movement and work: the body must always remain horizontal, the height of the body can be changed, and the robot can move in all directions. We proposed a rough terrain mobile robot using a 4-axis differential module, a mechanism that can satisfy these requirements. Therefore, the specifications of the uneven terrain mobile robot, fabrication of the leg 1 module, and measurement of torque and force by attaching a 6-axis force sensor to it were conducted.