Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 05, 2019 - June 08, 2019
This study proposes a mobile robot that performs stable stepped travel with two driving wheels. Wheel movement is excellent in traveling efficiency, however it is not suitable for running on steps. In the past, we proposed a mechanism of a wheel type mobile robot which enabled a step running by using parallel linkage. This stair-climbing-robot had problems that the front wheel floated up and the body tilted during a step running. We focused on the thrust of the cylinder attached to the robot, and adjusted this value to obtain the condition for maintaining the contact between the wheel and the ground by the analysis based on the hydrostatics and verified by the experiment.
