DocumentCode
666756
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
fYear
2013
fDate
10-13 Nov. 2013
Firstpage
6545
Lastpage
6550
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location
Vienna
ISSN
1553-572X
Type
conf
DOI
10.1109/IECON.2013.6700214
Filename
6700214
Link To Document