Development of a Quadruped Tracked Mobile Robot

摘要

We have developed a tracked mobile robot which is equipped with four legs at its body. This robot is able to not only move on rough terrain robustly, but also perform handing tasks such as carrying an object and removing small obstacles in its movement by using the legs as manipulation arms. This paper describes mechanisms and characteristics of the robot. Several experimental results showed the validity on basic movements by legs and tracks and handling tasks of this robot.