著者

壽田 祐大 金田 礼人 本田 功輝 中島 康貴 山元 元司

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.2021, pp.1P2-I02, 2021

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<p>Mobile robots with both high trampling ability and low COT are required for hazard removal and disaster rescue in unstructured environments. In this paper, we present a Spider-Man inspired mobile robot that can brachiate using wires to overcome obstacles. The proposed mechanism has two wire injection mechanisms and winding mechanisms. By ejecting the two wires toward a ceiling and rewinding them, the robot can control its position and angle for brachiation. Then, by detaching one of the two wires, the robot starts brachiation and lands on a remote point. We build a prototype robot and experimentally verify that it can brachiate along the target trajectory.</p>