Hermetically Sealed Flexible Mobile Robot with Hydrostatic Skeleton-Development of a New Crawler and Driving Experiment of the Robot in a Narrow Space-

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  • 水力学的骨格を用いた完全密閉型柔軟移動ロボット―新型クローラの開発および試作ロボットの狭あい地形における動作実験―
  • スイリョクガクテキ コッカク オ モチイタ カンゼン ミッペイガタ ジュウナン イドウ ロボット シンガタ クローラ ノ カイハツ オヨビ シサク ロボット ノ キョウアイ チケイ ニ オケル ドウサ ジッケン
  • —Development of a New Crawler and Driving Experiment of the Robot in a Narrow Space—
  • ―新型クローラの開発および試作ロボットの狭隘地形における動作実験―

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Abstract

This study proposes a unique flexible robot with new hydrostatic skeleton driving mechanism. The main components of the robot are a hermetically-sealed outer cover with looped structure and flexible crawlers with hydrostatic skeleton named HS crawlers. This new robot provides remarkable advantages in narrow spaces as listed below: (i) the robot can change its shape adapting to terrain, (ii) all ground contact areas of the robot are driven toward the same direction. Performance of the first prototype robot is verified by experiments of wireless driving and passing narrow space. The prototype robot demonstrated a capability to pass through a space of 300 [mm] height, whereas the ordinary height of the robot is 420 [mm] .

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