Title :
Concept of a novel four-wheel-type mobile robot for rough terrain, RT-Mover
Author_Institution :
Dept. of Adv. Robot., Chiba Inst. of Technol., Chiba, Japan
Abstract :
In many fields employing robots, e.g., wheelchair robots, rescue robots, and construction robots, those which can move on rough terrain are desired. A robot with a simple mechanism and high mobility for all-terrain is discussed in this paper. A novel type of four-wheel-type mobile robot is developed, and its design is discussed from a functional viewpoint. In addition, strategies for moving on rough terrain are introduced, and its fundamental capability of moving on rough terrain is verified through simulations and experiments.
Keywords :
collision avoidance; mobile robots; motion control; RT-Mover; four-wheel-type robot; mobile robot; rough terrain mobility; Couplings; Leg; Legged locomotion; Mobile robots; Orbital robotics; Path planning; Rough surfaces; Stability; Surface roughness; Wheels; Hybrid Mechanism; Leg-wheel Robot; Mobile Robot; Rough Terrain; Wheel-type Robot;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5354823
