An Investigation of Climbing up Stairs for Inchworm Robot.

摘要

Being buried to death under eollasped houses without being found became a big issue during a major calamity. The developnaent of a robot which finds life in the suffering district is needed as soon as possible. In this research, the method of lnoving the inchworm-type robot is being developed for the purpose of the rescue. This robot has the ability to traverse obstacles such as the stairs with fewer joints than the wheel type and the legged type. The selfstanding inchworm robot which has five links and four joints is made for trial purposes. In order to achieve climbing stairs for this robot, the kinematical analysis and the development of the program was researched. As a result, the effectiveness of this robot is confirmed by the experiment.