2A2-C01 1脚あたり2輪車を有する4脚車輪ロボットによる階段昇降(脚移動ロボット)

概要

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We are developing the autonomous mobile robot that assumes the application of guide dog and service dog. We designed a robot having 4 legs and wheels. The robot can move by wheels on the level ground and move by legs on the rough terrain. But the robot with wheels was not more stable than the robot with only foots. So we designed a robot having 4 legs and 8 wheels. In this paper, it reports that it is possible to walk more stable and faster by applying 2 wheels per 1 leg.
一般社団法人日本機械学会の論文
2011-05-26