リムレスホイール移動ロボットの滑りを評価する方法の提案

抄録

Currently, a robot with rimless wheels has been proposed to avoid destroying grassland. Therefore, our research proposes a rimless castor-type three-wheeled mobile robot. The objective is to quantitatively evaluate the slippage in order to design a robot that reduces slippage against the ground during its movement. We visualized the slippage that occurred during the robot’s movement, and then used image processing to quantify and evaluate the slippage. We conducted an experiment in which a crayon was attached to a miniature robot and the robot was made to run on a flat surface, and the recorded trajectory was evaluated by an evaluation program. As a result, it was found that slippage occurred when the robot switched directions. This study showed that the slip evaluation system is effective on flat surfaces.