Research and Development of Hyper Symmetrical Configuration Robot with Mechanical Robustness in the case of Falling Down on Rough Terrain

在这个项目中，我们开发了用于空间探测、搜救等探测任务的圆柱形探测车机构。该移动机器人的特点是可抛掷和全方位运动。该机器人整体结构为三角形截面，具有三个圆柱形驱动单元；每个角落都有爬虫。通过与实际样机的实验，展示了该机器人的工作机理，并对其基本功能进行了验证。

In this project, we developed the mechanism of the try cylindrical rover for exploration mission such a space exploration, search and rescue, and so on. The features of this mobile robot are the throwable and omnidirectional motion. The whole configuration of this robot is triangular cross-section and has the three cylindrical driving unit; omni-crawler at the each corner. The mechanism of this rover is shown and the basicfunctions are confirmed through the experiments with the actual prototype model.