Abstract
Wheel mechanism is using most mobile robots. It has ability of high speed mobility and energy efficiency mechanism. However, this mechanism does not have ability of traveling the convexo-concave load and uneven terrain on the minus side. In real environment, the road is convexo concave. The important point is that this convexo concave road can be climb or not. In previous research, almost papers are discussed that the ability of climbing over the step about this problem. And they assume that the wheel approaches the step at right angle in their models. Here, we consider that the approach angle is the large effect to climb over the step. In this paper, we propose the wheel model considering ability of climbing the step by approach angle. And we confirm this model to compare the propose model and experiment of climbing over the step.
