Title :
Proposal of step climbing of wheeled robot using slip ratio control
Author :
Higashino, M. ; Fujimoto, Hiroshi ; Takase, Y. ; Nakamura, Hajime
Author_Institution :
Dept. of Adv. Energy, Univ. of Tokyo, Kashiwa, Japan
Abstract :
This paper proposes a method which enables wheeled robot to climb a step that is higher than the radius of the wheel. In conventional method, this is impossible, because driving force of front wheel is not enough. This paper proposes a method utilizing the moment of impact between the wheel and the step to maximize the normal force, and hence the driving force of the front wheel. Effectiveness of the proposed method is verified by simulations and experiments.
Keywords :
force control; impact (mechanical); mobile robots; slip; wheels; driving force; front wheel; impact moment; slip ratio control; step climbing; wheeled robot; Control systems; Force; Legged locomotion; Tires; Wheels;
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
DOI :
10.1109/IECON.2013.6700214
