４車輪PMVにおける変形凹凸車輪での段差移動に関する研究

抄録

In this paper, we focus on stair-climbing for PMV. It is difficult to climb a step higher than its wheel radius of PMV. Nevertheless, in recent years, many PMVs that can climb a stair are developed, but in terms of moving speed, they are slow. As one of main reasons, most PMVs use a different mechanism when moving on a flat ground or when climbing a stair, so that it takes time to switch one mechanism to another. We propose deformed unevenness wheels using powder that plays a role of claws against a stair while securing high speed and high stability on a flat ground.