Concept of a novel four-wheel-type mobile robot for rough terrain, RT-Mover

In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, those which can move on rough terrain are desired. A robot with a simple mechanism and high mobility for all-terrain is discussed in this paper. A novel type of four-wheel-type mobile robot is developed...

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Bibliographic Details
Main Author: Nakajima, S.
Format: Conference Proceeding
Language:English
Subjects:
Couplings
Hybrid Mechanism
Leg
Leg-wheel Robot
Legged locomotion
Mobile Robot
Mobile robots
Orbital robotics
Path planning
Rough surfaces
Rough Terrain
Stability
Surface roughness
Wheel-type Robot
Wheels
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Summary:In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, those which can move on rough terrain are desired. A robot with a simple mechanism and high mobility for all-terrain is discussed in this paper. A novel type of four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. In addition, strategies for moving on rough terrain are introduced, and its fundamental capability of moving on rough terrain is verified through simulations and experiments.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5354823