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

在许多领域中，对诸如搬运机器人和个人移动机器人的实用机器人存在强烈的需求，该实用机器人可以在水平搬运负载的同时在粗糙的地形上移动。我们已经开发了一个机器人，称为RT-移动器，它显示出足够的移动性能的目标类型的粗糙地形。它有四个可驱动的车轮和两个腿状车轴，但只有五个主动轴。该机器人的优点在于它以简单的机构实现了腿模式和轮模式。

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.