Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 28, 2023 - July 01, 2023
The rocker-bogie mechanism increases capacity of vehicles to step over steps. When it comes to climbing steps, however, the rocker-bogie vehicle depends on the length of the links and friction force between wheels and the vertical plate. Therefore, we developed the method which enables the rocker-bogie vehicle to climb a high place without friction force between wheels and the vertical plate, in which utilized elasticity. Firstly, it lifts up some links of the elasticity embedded rocker-bogie vehicle with excitation of Series Elastic Actuator(SEA). Secondly, it keeps posture of lifted links with inverted pendulum control. Then, The rocker-bogie vehicle moves forward to the step and puts some wheels there. This developed method succeeded in both simulation and real situations.
