Research on a rough terrain mobile robot with simple mechanism, aimed at an application to the welfare and rescue filed

在许多领域都有对实用机器人的强烈需求，例如搬运机器人和个人移动机器人，它们可以在水平搬运货物的同时在崎岖的地形上移动。我们已经开发了一种名为RT-MOVER的机器人，它在目标类型的崎岖地形上表现出足够的机动性能。它有四个可驱动的轮子和两个腿状的轴，但只有五个活动轴。该机器人的一个优点是，它在一个简单的机构中实现了腿模式和车轮模式。

There is a strong demand in many fields for practical robots, such as a porter robot and a personal mobility robot, that can move over rough terrain while carrying a load horizontally. We have developed a robot, called RT-Mover, which shows adequate mobility performance on targeted types of rough terrain. It has four drivable wheels and two leg-like axles but only five active shafts. A strength of this robot is that it realizes both a leg mode and a wheel mode in a simple mechanism.