平行リンク機構を用い２つの駆動車輪で安定した段差走行を可能とする移動ロボットの開発

抄録

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.