Leg-wheel robot: a futuristic mobile platform for forestry industry

摘要

An approach to a mobile robot platform for rough terrain is discussed in this paper. The situation of the forest industry in Japan and the necessity of developing robots for the forests are also discussed. A locomotion method using a leg and wheel mechanism is presented here, and its advantages compared with the single use of legs or wheels for steep slope rough terrain, as found in Japan, are ascertained. A prototype of a robot consisting of independent legs and wheels is introduced as one example of a leg-wheel mobile system containing legs and wheels.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>