抄録
This paper describes a method to improve a traveling performance of a low center-of-gravity type two-wheel mobile robot. We have a plan to use the robot as a tour guide robot to explain exhibits for visitors. Generally this type robot cannot climb over a step because the body of the robot tilts before rolling the wheel. The robot needs climb over a step of about 1 cm because the usable environment of the robot is limited indoors. Therefore we propose an extra wheel mechanism in order to improve the traveling performance. The mechanism needs not additional sensor and control method. The proposed robot was able to climb over the target step by experiments.
