抄録
Typically, instead of high energy efficiency, wheel mechanism is inferior to crawler or walking mechanism in point of step climbability. In this research, we focused on a new wheel mechanism named "Swing-Grouser Wheel". At first, we confirmed its performance on climbing higher step than its wheel radius by the experiment with practical model. Furthermore, we experimented the performance of the energy efficiency and the step climbability in low friction environment with 2D physics simulation which allow to make such environment easily. As a result of this simulation, we confirmed that the Swing-Grouser Wheel was able to climb up the higher step than wheel radius, even in the environment whose friction coefficient is too small for rimless wheel to climb up. In addition, the energy efficiency of Swing-Grouser Wheel measured in physics simulation is also higher than rimless wheel.
