４車輪型移動体のロール軸を活用した不整地移動制御

抄録

Recently, there is a demand for a wheel type mobile robot that can safely move on rough terrain. “RT-Mover” are four- wheel type robots, which have both of wheel mode and leg mode despite the simplicity of mechanism. In this paper, we propose a method of rolling axis control when a four-wheel type robot such as RT-Mover moves on rough terrain. The torque of the rolling axis is decided with a certain ratio between target torque for horizontal control and angle control. In this way, the robot can move on rough terrain while keeping all wheels grounded and more safely than leg mode.