ハイブリッド式湿原移動ロボットの設計と試作

―螺旋回転機構と脚回旋機構―

抄録

Currently, the reduction of wetland area is a serious problem in Japanese wetlands. To support wetland survey, a hybrid wetland mobile robot using a spiral and deployable legs has been proposed. The spiral rotation mechanism to rotate the spiral and the leg turning mechanism to move the deployment legs back and forth are essential for the movement. In this study, the mechanisms are designed and prototyped of a spiral rotation mechanism and leg rotation mechanism, which are part of a hybrid wetland mobile robot, and evaluate their performance.