Development of a Step-climbing Omni-directional Mobile Robot
نویسندگان
چکیده
In this paper, we purpose a new holonomic omni-directional mobile robot that can move on not only flat floors but also uneven environment. A prototype robot can move in omni-direction, run on the uneven floors and slopes, and pass over large steps. The robot has seven universal wheels that have twelve cylindrical free rollers. We adopt a passive suspension system that enable the robot to change the shape of the robot body in proportion to ground states without using actuators and sensors. We construct the prototype robot and analyse the kinematics of the robot. The performance of the prototype robot is verified through experiments.
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