斜めのグローサで不整地を横移動するクローラロボットの開発

抄録

This paper describes the development of crawler robot for moving on rough ground. The pneumatic caisson method is a method used to construct underground structures such as foundations for piers and pumping stations. This method has a significant negative impact on the human body, so robots are being used to unman the work. However, robots currently in operation have the problem of getting stuck on uneven ground at the work site. To solve this problem, we developed a crawler robot that can move in multiple directions. A prototype was built, but lateral movement was not successful with any of the fabricated track shoe of any shape.