(2002-)On the irreguler ground in the disaster area, or steep slope in the mountains, it is very difficult for the wheel or track type vehicle to move around. Even the leg-type vehicle cannot get over so big obstacles. In such situations, we suggest the new method of movement by using surrounding objects such as trees, not moving on the ground. It throws the tether(wire) to surrounding objects and holds them, and moves by using the traction of the wire.

Fig.1 shows the experiment with "HELIOS VI"(one of the track type robots). HELIOS VI throws the gripper (tied to the tether) to the tree and the gripper holds it, and the robot surmounts the bump by pulling the wire. That gripper is shown in Fig.2. It is thrown with its fingers open, and they are locked when it hits to the object. We can release the gripper by pulling the tether several times. It can memorise the frequency of pulling (without electric devices), so we can control the lock of the gripper and retrieve it for the next casting.

Fig.3 shows the casting device using a hook, not the gripper type. It is easier to fix the tether to the objects because it need not grip them exactly like the gripper type. We can release the lock by pulling the tether several times as well as the case of the gripper type. We continue the improvement of this mechanism.