Interaction with Obstacles During Pushing-Up Sequence for Ground Adaptive Crawler Robot

Abstract

The purpose of this study is to elucidate the traversing principle of the pushing-up sequence, which is one method for the ground adaptive crawler robot to get over obstacles from the viewpoint of the interaction between the robot and obstacles. In this paper, we focus on the timing at which the robot body is lifted in the ground adaptive crawler robot pushing-up sequence, and describe the relationship between the attitude of the robot and the moment generated from obstacles due to the driving force of the robot.