ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2A2-J12
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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
*古井 湧介中嶋 秀朗
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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.

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