Development of omni-directional mobile rotor with step-climbing ability - development of control and improvement of the mechanism of the robot

摘要

In this study, we propose a new holonomic mobile mechanism capable of climbing. This mechanism can move in any-direction on the flat floor and pass over steps and slopes in one direction. The vehicle is equipped with wheels seven omni-directional wheels with cylindrical free rollers and a passive body that provides to change the shape of the body on rough terrain. There is no need for additional actuators or sensors for the passive body axis. In this paper, we design a new control scheme and improve the mechanism for passive over the steps. The performance of the prototype system is verified through experiments and computer simulations.