差動サスペンション機構を有する独立二輪駆動車両による斜め進入での段差踏破性に関する実験的検討

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  • Experimental study of step-climbing with slantwise entering angle by a differential mobile robot with differential passive suspension

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<p>There are a lot of studies of step climbing for a mobile robot. However, almost all studies do not discuss the relation between the ability of step-climbing and the angle of entering step. We proposed a differential passive suspension mechanism for a mobile robot with two independent drive wheel and evaluated the ability of step-climbing with slantwise entering angle. In this paper, we improve and evaluate the mechanism with the numerical simulator and by the experimental model. As a result of the experiment, it was confirmed that the mechanism improved the ability of step-climbing with under 30 deg entering angle.</p>

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