Development of a new hybrid link based mobile platform

Potential performances of tele-presence mobile platforms and service robots can be greatly enhanced by improving their mobility. So, to maximize mobility becomes a very important subject for indoor mobile platform research. Many mechanisms and control methodologies are suggested, but mobility of indoor mobile platforms are still need to be improved. A stair is the most representative obstacle in indoor circumstances so that if a mobile platform freely negates a stair, this will accelerate various autonomous driving technology researches. To achieve this, a hybrid link mechanism for mobile platforms is suggested in the previous research. The hybrid link mechanism combines a passive revolute joint with an active prismatic joint and as a result, joint position and center of mass can be freely changed appropriately for a given step. In this paper, a prototype of new hybrid link mobile platform for stair climbing is manufactured based on an optimized kinematic design. Basic performance test on a plain surface and staircases are performed successfully, including climbing a stair of a 315(W) × 130(H) with active movement of slide. As the final process, stair climbing algorithm as well as position recognition process are proposed.