Proposal for step-up gait of RT-Mover, a four-wheel-type mobile robot for rough terrain with simple leg mechanism

RT-Mover can move on continuous rough terrain using a motion control technique proposed in a previous paper. There is, however, larger rough terrain in a real environment than in the previous paper, so, RT-Mover can not operate there using that technique. In this paper, a step-up gait for an upward step is proposed for use in discontinuous rough terrain. The flow of processes in the step-up gait and stability during the gait are discussed. The proposed gait is evaluated through simulation and experiment.