抄録
A mobile robot may move a rough terrain. The leg type is known as a migratory mechanism which moves a rough terrain. Generally three-dimensional obstacle avoidance is possible for a legged robot. However, the scope of the obstacle avoidance of a legged robot receives restriction by the operation range of a leg. Therefore, the robot cannot pass an obstacle higher than itself. So, in this paper, a multi-legged jumping robot with the mechanism which enables the jump of sufficient height is considered. In order to confirm the effectiveness of the jump mechanism in a mobile robot furthermore, the route determination algorithm using the genetic programming is gained, and comparison examination of the fitness to the environment by the existence of a jump mechanism is carried out.
