変形履帯シューの提案による履帯型掘削ロボット“Antler”に関する研究

抄録

In recent years, the frequency of natural disasters in Japan has increased, creating a need for construction robots to work in disaster areas. In the case of landslides, three important tasks are excavating, loading and transporting earth and sand. Traditionally, these operations have required several units of several types of heavy construction machines. However, it is difficult to access disaster sites. To solve this problem, it would be beneficial if a single machine could perform all three tasks. By adding digging and loading functions to the crawler, the work can be carried out in a compact body without the use of an arm. The “Antler” concept is to build a robot that uses track shoes for digging and loading. In this study, a robot equipped with the shoe proposed in the previous study was built and tested for digging, loading and walking performance. The feasibility of the robot was verified.