Analysis of Stair Climbing Motion with a Rolling-Axis Control for Four Leg-Wheeled Type Vehicle

Abstract

Stairs are one of the barriers for personal mobility vehicle (PMV) in daily life. Crawler-type vehicles and vehicles with special and complicated mechanisms are commonly used for climbing stairs. On the other hand, our vehicle is based on a wheel mechanism. And the wheel mechanism of our vehicle can perform a leg-like motion if necessary. In this paper, we analyze the stair climbing motion by using the roll axis. The roll axis control which we have analyzed is a control in which the target roll axis torques calculated from posture control and angle control are added together in a constant ratio.