自律分散移動体のための全方位移動機能を有する脚車輪型ユニット

抄録

In this study, an autonomous distributed system type leg-wheel unit was developed as a mobile robot capable of moving on rough terrain, primarily intended for use in disaster situations. The leg-wheel unit utilizes three omni-wheels, enabling movement in all directions. It has an advantage of independent mobility to reduce the number of units required for operation. A series of experiments was conducted using a prototype. The experimental results verified the unit’s mobility.