Rocker-Pillar: Design of the Rough Terrain Mobile Robot Platform with Caterpillar Tracks and Rocker Bogie Mechanism

摘要

The ability to overcome rough terrain is a main issue of mobile robots. However, as the speed of a robot increases, stability becomes another issue because it is directly related to the mobility of the robot. Without stability, the robot is exposed to risks of overturn. Therefore, a mobile robot needs to be not only maneuverable but also stable. We present a new mobile platform named "Rocker-Pillar" which enables a robot to overcome rough terrains with stability. The robot is composed of two sets of caterpillar tracks, four wheels, and a pair of two linkages. The robot can travel a rugged terrain at a speed 50m/min while maintaining stability, and can overcome complex terrains such as holes, steps without frontal sides, and stairs. The robot can overcome a hole 1.5 times larger than the wheel diameter of the robot and a step without the frontal side that is 1.25 times higher than wheel diameter.