Abstract
This paper describes about the restriction of angle on the traversable conditions for simple step for the crawler robot with the passive sub-crawler. Conventional crawler type search and rescue robots have been adopted the active sub-crawler in order to adapt to the rough terrain by remote operation, however, the mobility of the robot depend on the operator's skill. This study addresses the crawler robot that does not depend on the operator's skill by adopting the passive sub-crawler. The different restriction conditions for the angle of the passive sub-crawler exist for the state of terrain. In the case of a simple step, we considered the state of a robot attitude when traversing on the step in order to investigate traversable condition for the crawler robot with passive sub-crawler from the experimentation and numerical simulation results. The method of the angle restriction for the passive sub-crawler were derived by the proposed traversable condition.
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