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History of Robotics Research and Development of Japan1986LocomotionDevelopment of Vehicle with Legs and Wheels

Takeo Ohmichi	Mitsubishi Heavy Industries, Ltd.
Sigenori Hosaka	Mitsubishi Heavy Industries, Ltd.
Masatoshi Nishihara	Mitsubishi Heavy Industries, Ltd.
Jyunji Nakayama	Mitsubishi Heavy Industries, Ltd.
Masatoshi Satou	Mitsubishi Heavy Industries, Ltd.

図1　CV-R　全体イメージ — Fig. 1 Total Image of CV-R

図2　CV-R　移動a（階段移動状況） — Fig. 2 Moving motion of CV-R on stairs (a)

図3　CV-R　移動b（階段移動状況） — Fig. 3 Moving motion of CV-R on stairs (b)

図4　CV-R　作業 — Fig. 4 Work of CV-R

図5　CV-R　脚車輪要素a — Fig. 5 Legs and Wheels element of CV-R (a)

図6　CV-R　脚車輪要素b — Fig. 6 Legs and Wheels element of CV-R (b)

図7　CV-R　脚車輪要素c — Fig. 7 Legs and Wheels element of CV-R (c)

図8　CV-R　脚車輪要素d — Fig. 8 Legs and Wheels element of CV-R (d)

図9　CV-R 耐放射線 — Fig. 9 Radiation resistant performance of CV-R

図10　CV-R 耐温度 — Fig. 10 Temperature resistant performance of CV-R

図11　CV-R 安全装置a — Fig. 11 Safety system of CV-R (a)

図12　CV-R 安全装置b — Fig. 12 Safety system of CV-R (b)

図13　CV-R 工具a — Fig. 13 Working tools of CV-R (a)

図14　CV-R 工具b — Fig. 14 Working tools of CV-R (b)

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