著者

吉川 諒 中村 尚彦 高橋 直樹 浜 克己

出版者

函館工業高等専門学校

雑誌

函館工業高等専門学校紀要 (ISSN:02865491)

巻号頁・発行日

vol.44, pp.1-6, 2010

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Recently, many researchers have developed rescue robots in order to assist rescue team by searching survivors in need of help. These robots actually can climb obstacles in broken houses or buildings such as stairs, wreckage. However, most of them require manual control for achieving the task. And this manual control requires operators from rescue team the mutual control for the robot. Because of the complicated control of robots, these robots are difficult to success in real fields. The goal of this research is to develop an uneven terrain rover without any manual control for climbing obstacles for searching survivors in need of help in broken houses or buildings. The rover which we are developing does not need any manual control for climbing obstacles such as stairs, wreckages and so on. In this paper, first, we propose an easy control uneven terrain rover. Then, possibilities/suitability of shrimp mechanism and triangle wheels for our rover are discussed, and, validity of shrimp mechanism and triangle wheels are shown by experimental results with small models. Finally, prototype of the rover is designed based on the experimental results and control system of the rover is also designed.