Locomotion of Limb-mechanism Robot on Steep Slope

摘要

This paper describes a small winch mechanism equipped on the limb-mechanism robot. This mechanism has a guide which rotates freely and can reel/release a wire omni-directionally. We propose an idea that the robot uses one limb as a guide of the winch mechanism. This method can improve mobility of the robot on the slopes. We show the feasibility of our proposed idea through the basic experiment.