Design of a gravitational wheeled robot

This paper deals with a novel mobile robot to overcome unusual sized obstacles or uneven ground. The robot proposed here has a compact driving mechanism between dual parallel big wheels. First, we explain the basic principle and structure of our robot, and show the specifications of our prototype ro...

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Bibliographic Details
Published in:Advanced robotics 2002-01, Vol.16 (8), p.785-793
Main Authors: Ioi, Kiyoshi, Igarashi, Harukazu, Murakami, Ayanobu
Format: Article
Language:English
Subjects:
gravitational wheel
Mobile robot
pendulum
PIC
range sensor
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Summary:This paper deals with a novel mobile robot to overcome unusual sized obstacles or uneven ground. The robot proposed here has a compact driving mechanism between dual parallel big wheels. First, we explain the basic principle and structure of our robot, and show the specifications of our prototype robot and the result of some mechanical experiments. In these experiments, we also report the result of the velocity control accompanied with two one-chip microcomputers (PICs) and we design a new leg for the attachment of a range sensor. Finally, we summarize our obtained results and some future works.
ISSN:0169-1864
1568-5535
DOI:10.1163/15685530260425756