2P2-E14 Development of Mobile Vehicle "Raccoon-I" : Bending-Body with Multi-Wheels

Abstract

In this paper, we propose "Raccoon-I" as a new mobile vehicle consists of active bending-body , one active lock mechanism on passive joint of active sphere-wheel, one active sphere-wheel, two active wheels with grousers and two passive wheels. "Raccoon-I" can climb up and get down step and stairs, can turn on the spot. "Raccoon-I" is developed for the purpose of entering subway station. We have designed a model, and confirmed basic performance by experiments.