伸縮型スタビライザを登載した2輪型ロボットの協働による軟弱地盤登坂に関する研究

抄録

Some organizations have planned to explore the Lunar or planetary surfaces using a small rover. Additionally, exploration using a wheeled swarm rover has been planned. However, the traveling performance of the single rover could be worse due to loose soil on the planetary/Moon surfaces. To solve this problem, our previous study developed collaborative locomotion via an inching locomotion. Although the proposed locomotion suppressed the slip by increasing connection rovers, the traveling performance of the method when the high load is applied has remained unclear. This paper investigates the relationship between the load and the traveling performance when the connection rovers are changed. Experimental results further clarified the suppressing effect by increasing the number of rovers.