[3J01-05] Anomaly Detection Technique and Robot

[3J05] Construction of an operation system for a small 6-legged-wheel robot for research

*Yudai Yamashita¹, Shoki Hibino¹, Hinata Takami¹, Hiroyuki Shimano², Masayuki Kawai¹ (1. Univ. of Fukui, 2. Shimano)

Keywords:legged-wheel-robot, small robot, operation system

This research is study on the construction of an operation system in a 6-legged-wheel robot for investigating locations such as inside nuclear reactor buildings and disaster sites. The robot used in this project has a structure in which wheels are placed at the tip of each leg. It enables the robot to walk by the leg mechanism and run by the wheels. The robot is compact enough to be easily transported. The robot is operated remotely with viewing images from the on-board camera. The movements using the leg mechanism, such as ascending and descending stairs and climbing over obstacles and step, are performed under autonomous control. This presentation will give an overview of the robot and introduce control methods.