主催: 一般社団法人 日本機械学会
会議名: ロボティクス・メカトロニクス 講演会2019
開催日: 2019/06/05 - 2019/06/08
This paper proposes an algorithm which enables a four-wheel robot to climb stairs that are higher than the radius of the wheel. In the proposed stair climbing algorithm, the two wheels on left (right) side climb a step using the pressing force that is generated by a torque of steering axis. In addition, this algorithm uses the static effect and the dynamic effect which are generated by a movement of the center of gravity with seat sliding. When seat sliding decelerates, a moment which raises the wheel is generated. This moment is used when lifting the wheel in this algorithm. The effectiveness of the proposed algorithm is verified by simulation.
