車輪脚移動ロボットの不整地走破性能に関する要因分析

Key Points

• This research aims to analyze factors influencing the off-road performance of whegs robots, particularly focusing on spoke rigidity.
• Utilized a whegs robot with six legs for performance testing.
• Conducted experiments on off-road mobility under various conditions.
• Examined the impact of spoke shape and material on stability and performance.
• Compared robot performance on flat terrain and obstacle navigation.
• Spoke rigidity significantly affects the robot's off-road capability.
• Performance varies based on spoke shape and material during obstacle navigation.
• Phase difference in movement patterns observed during flat and obstacle traversing.