Development of Omni-Directional Mobile Robot with Step-Climbing Ability: 4th Report: Improvement of Step-Climbing Mechanism

摘要

In this paper, we describe developing a new omni-directional mobile robot with step-climbing ability. The prototype robot equips seven special wheels that have twelve cylindrical free rollers and a passive suspension system that is called Rocker-Bogie suspension. The mechanism of the prototype robot is improved to keep the stability of the body and distribute the loads while step climbing. Computer simulations and running experiments were done for verifying the performance of the robot.