著者

大石 千種 多田隈 建二郎 多田隈 理一郎 永谷 圭司 吉田 和哉 明 愛国 下条 誠

出版者

一般社団法人日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2009, pp."1A2-G18(1)"-"1A2-G18(4)", 2009-05-25

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This paper describes the connected two unit crawlers to realize various configurations. By changing the configuration of two connected vehicle units in relative positions, the robot with this mechanism can automatically adapt to the surface obstacles in the field, including such complicated structures like debris after disasters. In addition we analyzed the effect of the each axis arrangement in order to realized switching function to compose the four basic configurations more easily, and developed an actual prototype model.