2A2-M03 A Technique of Wheel Locomotion in Rough Terrain for Rough Terrain Mobile Robot,RT-Mover(Mobile Robot with Special Mechanism)

Abstract

"RT-Mover P-type" is a personal mobility robot that can move on discontinuous rough terrain by using leg mechanism. But, it is difficult for this robot to continuous rough terrain by using conventional control method becouse of the wheel diameter is small compared to the weight. So, in this paper, as the first step, we propose the one of technique to improve on ability of wheel locomotion in rough terrain for "RT-Mover P-type". A mobile robot with bogie-type mechanism can move the rough terrain with small wheel diameter by using the proposed technique.