高段差乗り越え可能なクローラロボット機構: 自動段差登り動作の実現

摘要

We introduce a unique shaped crawler robot aimed for high-step climbing that is considered the most necessary ability in urban search and rescue operations. The crawler robot is composed of two triangular-shaped crawler devices connected by a center shaft, a straight crawler device and a two-link mechanism connecting the shaft and the straight crawler. The robot is very compact and light weight compared to other rescue robots. It has eight D.O.F. in total, four of which are for crawlers and the others are for shifting the shape of the robot. We confirmed that the proposed robot can get over 36 cm high step one-and a half times as high as its original height. We also implemented a height-independent climbing motion algorithm based on statics and geometrical analysis while climbing process. Various hardware experiments showed a capability of the developed robot and feasibility of the proposed motion algorithm.%近年，国内外において災害救助用ロボットとしてrn様々なタイプの移動ロボットが開発されている．災害rn救助用ロボットは，操作者が無線遠隔操縦することでrn人の進入が困難な場所や危険な場所の情報を取得するrnことができるため，床下，天井裏，プラント等の狭隘rn部での点検作業を行う目的でその利用が始まっている．