Development of a Crawler Robot Capable of Traveling in Muddy Terrain with a Stuck-Preventing Shape

Abstract

This paper describes the development of a crawler robot capable of traveling in muddy ground. In the pneumatic caisson method, a box-like structure called a caisson is submerged underwater. The working chamber under the caisson is pressurized to prevent the ingress of groundwater, and the ground is excavated. Because this method has significant adverse effects on the human body This method is being promoted to be unmanned by robots. However, robots currently in operation have the problem that the ground at the work site is uneven. To solve this problem, a crawler robot that can travel over muddy ground without getting stuck is needed.