Departmental Bulletin Paper 不整地での自律走行を目的としたムカデ型レスキューロボットの開発 -実環境への適用-
Semiautonomous Centipede-like Robot for Rubble — Development of an Actual Scale Robot for Rescue Operation —

石垣, 安規  ,  ISHIGAKI, Yasunori

562015-03-24 , 法政大学大学院理工学・工学研究科
In this study, we developed a multi-legged robot designed to operate on rubble for rescue operations. Generally, it is very difficult to operate multi-legged robots adaptively in a complex environment. To solve this problem, we focused on a centipede, and proposed a multi-legged robot that was built by sequentially connecting multiple links through rubber joints. In this mechanism, the legs move repetitively like those of a centipede, and the elasticity of the rubber joints compensates for the bumps on the ground. To control the movement direction, wires are installed through the links. By simply pulling these wires, we can control the movement direction of the robot. To demonstrate the effectiveness of the proposed mechanism, we developed an actual-scale prototype robot and conducted experiments. The results showed that the robot could move over rubble to the desired position.

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