1A2-Q03 Development of Tethered Detachable Hook IV for Robot Locomotion in Extremely Rough Environments(Robotics for Hazardous Fields)

摘要

Mobile robots with driving mechanisms based on wheels, tracks, legs, snake-like locomotion, etc. have been developed for movement in rough terrain environments. However, if the environment has steep and long slopes, or if it has holes (e.g. pits or ditches) that are several times deeper than the size of the robot, these existing locomotion methods will not be able to overcome these extreme obstacles. The authors have developed an advanced field robot system that allows the robot to cope with these extreme conditions. The system is based on a new method of locomotion, which uses a Tethered Detachable Hook (TDH) and a launcher-winch. In this paper, the authors propose a new hook mechanism called 'TDH IV' by using wireless communication with an IR receiver and tether-triggering locomotion. Focusing on the design concept, structure, and features of the TDH IV, we discuss its validity and implementation.