住居内移動機構のための柔軟房状クローラの機械的特性

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  • Mechanical Properties of Soft Cluster Crawler for Mobile Mechanism in Houses

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Robots used in houses must climb stairs and steps. However, the sizes of their steps need to be different for each house. When a robot is designed for the biggest steps, the robot may be unnecessarily large or complex. In addition, a robot damages various household objects when it moves imprecisely. Therefore, we developed a robot with a soft cluster crawler. The crawler can move in rough terrain and climb well, but it damages the floor. The developed crawler has clusters that contain beads, and it can change the hardness of the clusters by changing the diameter of the beads. In this way, the crawler can perform the most suitable deformation of the clusters. In this report, a basic stair-climbing experiment with a prototype machine is described.

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