粘弾性伸縮脚を有するリムレスホイール型ロボットの開発

抄録

In this paper, we show a rimless wheel robot with elastic telescopic legs has the ability to overcome high steps through 3D numerical simulation and actual robot. Previous studies showed that a rimless wheel robot with elastic telescopic legs has high adaptability to steps in numerical simulations. However, as far as we can ascertain, no actual rimless wheel robots have been developed for walking environments with high steps. To develop the rimless wheel robot with the ability to overcome high steps, we create an actual rimless wheel robot. We then confirm the optimal elasticity of the elastic telescopic legs.