1A2-B22 上下対称型ロッカボギーリンク移動機構による昇段能力の調査

抄録

In this paper, we propose a vertical symmetry rocker-bogie suspention designed robot without fall factor. In addition, we investigate the effect of the dynamic driving force distribution in this robot with the independently driven six wheels by a basic experiment. Therefore, the optimal control method of the driving wheel is shown the stair climbing capacity using this design.