Buoyancy-Generating Snow Field Movement Mechanism Experimented on Pseudo-Snow Environment

Currently, developments around robot mobility are very diverse. In disaster areas and other places where it is difficult for humans to walk, especially in places that are not flat, there are many kinds of research from various perspectives. Examples of previous studies include underwater movement and locations where it is difficult to obtain a stable posture, such as on the stony, sandy, and soft ground. On the other hand, relatively few studies on snow environments, such as snow damage sites, exist. This study aims to develop a mechanism for a mobile robot that can move stably on snow, which benefits investigation and supply rescue items at snow damage sites. This study investigates the mechanism by designing specialized wheels that gain buoyancy and traction force on snow. Also, we propose a pseudo-snow field that resembles the physical characteristics of snow, allowing snow-field mobile robots to experiment in warm environments.